The Philadelphia DA's Office announced theft charges on Friday against 41-year-old Gary Robb.
Investigators say the incident happened in Center City back on October 16, when he responded to a call about an unresponsive person.
A video camera inside the home captured Robb removing money from the victim's wallet and placing it into his jacket pocket, according to authorities.
"The alleged incident is an egregious misuse of power," said District Attorney Larry Krasner. "The men and women of the Philadelphia Fire Department are trusted public servants, and nothing alleged here diminishes the importance or integrity of their work. We will aggressively pursue the facts to ensure accountability and justice."
Robb was arrested on December 5 and later released.