Police said the Rev. Peter Petroske was driving naked and his blood alcohol level was just over the minimum level for intoxication when he was stopped, the Detroit Free Press reported.
The 57-year-old priest is pastor of Sacred Heart Parish, Dearborn's second largest Catholic church.
He was arrested late Thursday and is scheduled to be arraigned Aug. 14, The Detroit News reported.
District court officials said the priest has been charged with misdemeanor courts of operating a motor vehicle while intoxicated and disorderly/obscene conduct.
Petroske conducted Mass Sunday morning. Officials with the Archdiocese of Detroit were notified of his arrest and issued a statement Tuesday that Petroske had been placed on indefinite administrative leave.
He has been pastor at Sacred Heart since 2008.
The Rev. Robert Blondell, a recently retired priest, has been named temporary administrator at the church.