The car driver caught the incident on his dashcam as he drove along the M1 near Northampton on 11 November.
He said the other driver repeatedly attempted to cut him up and shunted him twice.
Northamptonshire Police said a 67-year-old lorry driver from Dunstable, Bedfordshire, had been charged.
A lorry driver who allegedly "repeatedly and deliberately" rammed a car on a busy motorway has been charged with careless driving.