Greg Smith, of the Trenton, N.J., company Liedtka Trucking, Inc., was charged on Monday with failure to yield to a pedestrian and failure to exercise due care, as Streetsblog first reported.
Police had said immediately after the crash that the driver was not expected to be charged.
Dworkin, a beloved artist who lived on Thompson Street, was riding a foot scooter westbound across Sixth Avenue at West Houston Street shortly before 9 a.m. Monday when the truck made a right turn onto Sixth Avenue and plowed into her, police said.
Her body was caught in one of the truck's rear tires and dragged for about two blocks, when pedestrians and other vehicles were able to stop the unwitting driver, police and witnesses said.
Dworkin was pronounced dead at the scene.
Liedtka Trucking declined to comment on the charges.