Stokes, who is accused of assaulting and injuring an Elvis impersonator in a Dublin nightclub, was released on bail, with no conditions, and ordered to appear again before the court on May 29.
The incident is alleged to have happened on June 8 last year, several hours after an international between Ireland and the Faroe Islands at the Aviva Stadium.
Stokes was first arrested by Gardai (Irish police) and questioned in relation to the incident in August last year. He had been released without charge at the time and a police file was sent to the Director of Public Prosecutions, who decided to prosecute him.
Dublin District Court heard he was arrested - by arrangement - on Chancery Street in Dublin on Thursday afternoon.
The Republic of Ireland striker was officially charged with assault causing harm, under section three of the Non-Fatal Offences Against the Person Act 1997.