Prosecutors say Robbinsville police Sgt. Mark Lee was found to have been suffering from a neurological condition at the time of the incident in September 2012.
Authorities say Lee assaulted the 45-year-old woman and her son and at one point knocked her from her wheelchair.
Under the plea deal reached Thursday, prosecutors say charges will be dropped if the 19-year police veteran successfully completes a three-year pretrial intervention program that requires continued medical and psychiatric treatment.
His attorney says Lee never intended what happened and "feels awful' for the people involved.
The attack occurred at a facility for disabled people. After being taken into custody, Lee broke out of a patrol car by kicking out a window.