Sam Spaven, 26, of Norfolk Road, Bircotes, Doncaster, has been charged with the murder of Richard Pencott, 44, also from Bircotes.
The crash, involving a bicycle and a car, took place on Faraday Close in Harworth, in the north of the county, on Wednesday afternoon.
Mr Spaven was arrested shortly afterwards and has now been remanded.
A man has been charged with murder following the death of a cyclist in Nottinghamshire.