He is due to appear at Bristol Magistrates’ Court on Friday.
Police said Mr Hurcombe was reported missing at 10:45 GMT on 10 January, nine days after last being seen.
Det Ch Insp Neil Meade, of Avon and Somerset Police, said: “Our thoughts are with Craig’s family during this incredibly difficult time.
“They continue to receive support from specially-trained officers, and, on their behalf, we request privacy for them. I would also like to thank them for their support with our enquiries so far.”
He thanked Wiltshire and Dorset Police for their part in the investigation, adding: “While enquiries continue to be carried out in the area, we would like to reassure the community that we do not believe there is any risk to the public.”
Avon and Somerset Police has said that due to the circumstances of the investigation, it has notified its Professional Standards Department.