Paul Olney, 35, was found dead at a property after police were called to Denham Close, Wivenhoe at about 15:50 BST on Monday.
Richard Waterhouse, 30, of Golden Noble Hill in Colchester appeared at Colchester Magistrates' Court and was remanded in custody.
He is due to appear at Chelmsford Crown Court on Thursday.
A 37-year-old man who was also arrested has been released on police bail until 21 July.
A man has appeared in court charged with murder after a body was found at a property in an Essex cul-de-sac.