Herman, 79, appeared briefly before District Judge James Henderson at Wimbledon Magistrates Court on Monday, and was released on bail. He was charged with three counts of indecent assault on a girl under the age of 14 and one count of attempted indecent assault on a girl under the age of 16.
"These allegations are over four separate incidences of sexual assault over a year period," prosecutor Frances Lockhart told the court.
At the time of the alleged crimes, Herman was a a 38-year-old major in the Royal Marines and assigned as a personal assistant to Prince Philip. Prosecutors allege that Herman assaulted the then-12-year-old girl in 1972 at the military house where he was living in southwest London.
Herman later served as a private secretary to Princess Anne.