Mohammed Rehman, 26, is accused of possessing a document likely to be used in an act of terrorism.
He will appear at Westminster Magistrates' Court to face the charge on Friday.
Both West Midlands and South East Counter Terrorism Units are working on Rehman's prosecution.
West Midlands Police said: "The charge is in connection with handwritten documents found within Rehman's cell in February."
A prisoner has been charged with a terror offence after handwritten documents were allegedly found in his cell at Belmarsh high security prison.