Former Manchester United captain Keane, 43, has been summonsed to go before Trafford Magistrates' Court after police received a report he had behaved aggressively in the incident in January.
It is alleged that Irishman Keane got in to the row with cabbie Fateh Kerar, 44, near traffic lights on Ashley Road in Altrincham on January 30.
In a statement Greater Manchester Police (GMP) said: "A summons was posted for Roy Keane to his home address in Hale to appear before Trafford Magistrates court on 31 March for a Section 4A Public Order offence.
"This is in relation to an incident on Friday 30 January 2015 when police were called to Ashley Road, Altrincham to a report that a man had behaved aggressively towards another man."
The Republic of Ireland assistant manager was interviewed under caution in Manchester following the alleged road rage incident involving the former footballer.
The former United man allegedly jumped out of his vehicle at a set of traffic lights and launched into a foul-mouthed tirade after being told to ‘smile’ by the taxi driver, theManchester Evening News
Cabbie Fateh Kerar (44) reported the incident to police after being left ‘terrified’ and ‘shaken’ by the outburst. Kerar said he and a passenger recognised the United man and allegedly attempted to engage him.
“We were both saying ‘that’s Roy Keane’ but he was just glaring back at us, looking really angry,” Fateh Kerar said. “I said ‘hello’ to him, then said ‘smile’.”
“He drove behind us going into Altrincham and as we got to the traffic lights, he stopped beside us and turned to us still looking really angry. He got out of his car in the middle of the road, held two fingers up and walked out in front of me. He was pointing and swearing and being very aggressive.”
Passenger Hothan Isman, 38, said: “He was staring aggressively at the driver - I was saying ‘wow, he’s really staring at you’. He would turn away then turn back and keep staring.
“When we got to the traffic lights he turned and stopped the car. He got out and was gesticulating with his arms and shouting furiously.
“The driver looked terrified and was shaking quite badly. I said he should call the police because it was very nasty, unpleasant, aggressive behaviour.”
Keane was subsequently quizzed in relation to the incident on February after the 44-year-old reported the altercation.
The public order offence Keane has been summonsed for is for types of conduct which may at least be capable of amounting to threatening, abusive or insulting words or behaviour, according to Crown Prosecution Service guidelines.