He was also charged with property damage and refusal to submit to a lawful test.
The 15-times major champion submitted a written plea of not guilty via his lawyers on Tuesday.
That came after a police report earlier on Tuesday detailed his behaviour after the crash.
It said Woods had two hydrocodone pills in his pocket - an opioid used to treat severe pain - and that officers observed him acting "lethargic and slow" while "sweating profusely" with "extremely dilated" pupils.
Speaking about the incident for the first time, Woods wrote on X: "I know and understand the seriousness of the situation I find myself in today.
"I am stepping away for a period of time to seek treatment and focus on my health. This is necessary in order for me to prioritise my wellbeing and work toward lasting recovery."

Tiger Woods DUI arrest: Crash report reveals hydrocodone pills and failed sobriety tests—here's what it means
Prior to the crash, Woods had not ruled out playing in next month's Masters - though he has not competed at a major since missing the cut at The Open in July 2024.
"I'm committed to taking the time needed to return in a healthier, stronger and more focused place, both personally and professionally," his statement added.
"I appreciate your understanding and support and ask for privacy for my family, loved ones and myself at this time."
Regardless of whether Woods was to play at the Masters, he was expected to be in attendance on the Sunday for the unveiling of The Patch - a revamped public golf course he has worked on with the Augusta National club
He was also expected to attend Rory McIlroy's champion's dinner on the Tuesday night.
"Augusta National Golf Club and the Masters Tournament fully support
Tiger Woods as he focuses on his wellbeing," said Masters chairman Fred Ridley.
"Although Tiger will not be joining us in person next week, his presence will be felt here in Augusta."
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The PGA Tour also issued its first comment on Woods following the golfer's statement.
"Tiger Woods is a legend of our sport whose impact extends far beyond his achievements on the course," it said.
"But above all else, Tiger is a person, and our focus is on his health and wellbeing. Tiger continues to have our full support as he takes this important step."
The golf body's chief executive, Brian Rolapp, added: "Tiger Woods is one of the most influential figures the sports world has ever known.