Police allege the man, 46, ”inappropriately touched” a 20-year-old woman during a massage therapy session in Blackwater, located about 196km west of Rockhampton.
He was arrested on August 15 and charged with one count of rape and two counts of sexual assault.
The charged man will appear before Blackwater Magistrates Court on October 2.
Police have urged anyone with further information or with allegations of a similar nature to come forward.
An investigation remains ongoing.