Gloucestershire Police says 41-year-old Anachi Thomas, of no fixed abode, has been charged with raping a woman.
He appeared at Cheltenham Magistrates’ Court on Tuesday 23 June and was remanded in custody.
He is due to appear at Gloucester Crown Court on 22 July.
The charge relates to a report made to police on Sunday 21 June following an incident on Stroud Road at around 10.30pm.
Police say the investigation is in its early stages and it is believed those involved were known to each other.
Officers are continuing to appeal for witnesses, CCTV or dashcam footage, particularly from anyone who saw a man and woman walking from Tredworth to Stroud Road between 9pm and 10.30pm.