Colleen Westlake, 48, was found dead along with a seriously injured 59-year-old man in Pines Road at 01:30 BST on Sunday.
Craig Bird, 31, of no fixed abode, has been charged with murder and attempted murder.
He will appear before magistrates in Chelmsford on Tuesday.
A man has been charged with murder after a woman was found dead and a man suffered life-threatening injuries at a bungalow in Chelmsford.