The 31-year-old man was arrested after allegedly indecently assaulting a female passenger.
A woman in her 20s has come forward with claims of sexual assault following a trip with an Uber driver earlier this year.
Sex Assault Squad detectives have charged a man from Armadale after he indecently assaulted the woman on January 8 this year.
It's alleged the man assaulted the female victim during an Uber journey from South Guilford to Victoria Park.
The man's been charged with two counts of indecent assault and one count of sexual penetration without consent.
He's due to appear before the Perth Magistrates Court today.
Police have notified the Department of Transport of the arrest.