Gooding's attorney, Mark Heller, denied the allegation, and said that surveillance video of the incident will exonerate his client.
A 29-year-old woman told police Gooding grabbed her breast while he was intoxicated around 11:15 p.m. Sunday.
Heller said Gooding had "no knowledge" of the alleged 2008 incident, which falls outside the statute of limitations for any potential charges.
"I trust the system and the process", he said.
NYPD confirms to ET that Cuba Gooding Jr. has been arrested and charged with forcibly touching, which is a misdemeanor.
Heller reportedly reached out to Manhattan's Sex Crimes Unit, but hasn't heard back from them. He said he can't believe they'd want to arrest Gooding if investigators had seen the video.
"I was at a club, I left, I met a bunch of people, said hello and took pictures and, you know, you have to have faith in what people say..."
Cuba Gooding Jr. has surrendered himself to the New York Police Department following allegations of sexual misconduct. A bartender said that the actor was agitated with patrons who wanted photos with him and that he pushed her when she asked him to leave.
He told TMZ that he was at the bar partying with friends but didn't touch anyone.
Asked about the reported allegation on Monday, NYPD spokesman Detective Martin Brown said, "We don't really have anything official to say about it other than that there's been an allegation and that it is now under investigation".
The bar, on the roof of the Moxy Hotel near Times Square, features a mini-golf course and sweeping views of the Empire State Building and other famous city landmarks.
Heller says he plans to "vigorously defend" the Boyz n the Hood and Jerry Maguire actor. His signature line, "Show me the money", became a popular catchphrase. In 2016, he was nominated for an Emmy for playing OJ Simpson in the miniseries The People v. O.J. Simpson.