The Essex County Prosecutor's Office says 42-year-old Shawn Custis is due in court in Newark on Tuesday morning.
Custis was arrested Friday in Manhattan. He faces charges of attempted murder, robbery, burglary and child endangerment. It's not clear if he has retained a lawyer yet.
The June 21 attack in Millburn was captured on a hidden camera in the woman's home. A man can be seen bursting into the home, punching and kicking the woman and throwing her down the stairs while her 3-year-old daughter cowered on a couch.