Lincolnshire Police was called to the fast food outlet in Skegness on Monday after reports a man was blocking the drive-through.
Michael Ernest Green, 62, of Clifford Road, Skegness, has been charged with being drunk in charge of a carriage.
He is due to appear at Skegness Magistrates' Court on 30 August.
A man has been charged with being drunk while using a mobility scooter after allegedly refusing to leave a McDonald's drive-through.