Gibson, 43, was released on his own recognizance, The Philadelphia Inquirer reported. He faces several misdemeanor charges, including theft by deception, receiving stolen property and failure to make the required disposition of property.
The Philadelphia Police Department fired Gibson after he was allegedly caught taking $140 from a car during a sting by internal affairs and the FBI. The narcotics officer was suspected of taking items from drug dealers' houses during raids.
Gibson and Gov. Tom Corbett's daughter, Katherine, are separated.
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