The CPS said it had "carefully considered" evidence gathered and had authorised police to charge the 85-year-old former entertainer.
The alleged offences date from 1971 to 2004 and relate to seven complainants aged between 12 and 27 at the time of the alleged incidents, the CPS added.
Mr Harris is currently serving a prison sentence for sex-related offences.
He will appear at Westminster Magistrates' Court on 17 March.
In a statement, the CPS said it had reviewed evidence gathered by the Metropolitan Police as part of Operation Yewtree.
"We have concluded that there is sufficient evidence and it is in the public interest for Mr Harris to be charged with seven counts of indecent assault," it added.
The Met Police said Mr Harris has been charged with:
Operation Yewtree is investigating sexual abuse allegations and was launched in the wake of the Jimmy Savile scandal.
Nineteen men have been arrested as part of the Yewtree investigation, of which five have been convicted, and 10 have been cleared. Two are currently on police bail, one is awaiting trial, and one died before trial.
Rolf Harris is to be charged with seven counts of indecent assault, the Crown Prosecution Service has said.