Herman worked as a personal assistant to Prince Philip for three years then became Prince Anne’s private secretary before returning to the military where he achieved the rank of Lieutenant-Colonel.
It is not known if Scotland Yard detectives have questioned any members of the royal family over the accusations.
Herman will appear at Wimbledon magistrates court, south London, on Monday.
When asked whether he denied the charges, he replied, “of course”.
The grandfather, who now lives in Hook, Hants, has been on bail since his arrest 18 months ago after voluntarily attending a police station.
The Crown Prosecution confirmed he had been charged.
At the time of the alleged attacks Herman was splitting his time between his home in Windsor, Berks, and Wellington Barracks, near Buckingham Palace.
From 1971 to 1974 Herman shadowed Prince Philip at numerous official engagements as his equerry.
He was then said to be handpicked by Princess Anne to run her household when she got married in 1974.
After two years he resumed his military career which saw him serve with 40 Commando, Royal
Marines, and get promoted to the position of Military Assistant and Aide-de-Camp to the Commandant General Royal Marines.