Bruce Curtis Songdahl, 51, was charged Thursday with one count of possession of a sexual performance by a child, The Miami Herald reported.
In July 1996 Songdahl and the 16-year-old, now an adult, had consensual sex and recorded it, an arrest affidavit said.
On Sept. 28 of this year, the victim participated in a monitored phone call with Songdahl, who said he had kept the tape and sometimes still watched it, the affidavit said.
Two days later, on Sept. 30, Songdahl retired from the Miami Beach police department after 26 years. The date had been previously scheduled, the department said.
On Oct. 1, officers with a search warrant found the videotape in Songdahl's home.
Miami Beach police said an allegation brought to its Internal Affairs Unit in August prompted the investigation.
"We are concerned with the nature and seriousness of the allegations about our former employee," Police Chief Carlos E. Noriega said in a statement. "We continue to cooperate fully with the State Attorney's Office and the Miami-Dade Police Department as this case progresses through the criminal justice system."