Andrew Hayes, 37, was discovered on Lyndhurst Road in Burnley at 19:40 BST on Wednesday.
He was taken to the Royal Preston Hospital and died in the early hours of Thursday, Lancashire Police said.
Wayne Bradbury, 29, of no fixed address, is due to appear at Burnley Magistrates' Court later.
A man has been charged with the murder of a man who died after being found in the street with head injuries.