Police said the attack took place in Glenrothes, Fife on October 24.
The woman was left badly shaken with minor injuries but recovered and has since given birth, to a boy.
A 24-year-old man is charged with attempted robbery and is due to appear at Kirkcaldy Sheriff Court in December.
Detective Constable Lynsey Johnstone said: “This was a vicious assault on a heavily pregnant woman and we were very keen to trace whoever did this.
“Thanks to a great response from the public, we have been able to arrest someone and charge them with this offence as well as report them to the procurator fiscal for a similar offence”.