The 34-year-old Somalian woman was attacked outside the Co-op on Water Eaton Road, Bletchley, on 6 August.
David Gallacher, 37, of no fixed abode, has been charged with assault causing actual bodily harm, assault by beating and two counts of racially or religiously aggravated assault.
He has been bailed to appear at Milton Keynes Magistrates' Court on 14 March.
Mr Gallacher allegedly assaulted both the woman and a 40-year-old man in the attack in August.
He is also charged of three counts of assaulting a police officer on 14 September in Larch Grove, Bletchley.

The search giant's all-important advertising revenue was also up 11%, to $16bn.
In a statement Google's finance chief Ruth Porat highlighted ad growth on mobile and YouTube.
Google's shares jumped 7.5% in after-market trading as traders welcomed the better-than-expected results.
The share price had already risen 3.5% during normal trading hours.
Advertisers pay Google only if a user clicks on one of their ads. "Cost per click", or the average price of online ads, fell in the quarter, but was more than offset by the increase in ad volumes.
Google's ad revenue has been under pressure as consumers access its services on mobile devices such as smartphones and tablets, whose advertising rates tend to be lower.
Google's share price rise "is reflecting the fact that they've effectively just beat earnings for the first time in several quarters," said Victor Anthony, an analyst at Axiom Capital.
A man has been charged with an attacking a pregnant woman who went on to lose her unborn twins.
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Google's net income rose 17% to $3.93bn in the three months to June from the quarter last year, boosted by an 11% rise in revenues to $17.7bn.