The case is tied to the scandal which led to the impeachment of the country's president, Park Geun-hye.
South Korea's special prosecutor's office announced the charges against the de-facto Samsung chief, along with four other company executives.
Three of those executives resigned on Tuesday following the announcement.
Samsung also said it was dismantling its corporate strategic office, a unit coordinating the various arms of the huge conglomerate.
Samsung is accused of giving donations to non-profit foundations operated by Choi Soon-sil, a friend of Ms Park, in exchange for government favours.
He had been arrested earlier this month as prosecutors prepared the indictment.
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