Chase Bishop, 29, turned himself into police and was booked into the Denver County jail on a single felony count, Denver District Attorney Beth McCann said in a statement.
The video shows the off-duty agent reaching for the gun and allegedly accidentally firing the weapon, hitting another patron in the leg.
The agent, named by police as Chase Bishop, was performing a backflip in a nightclub when his gun fell out of his pocket and shot a bystander in the leg.
The agent is under investigation following an incident that occurred during the early morning hours of June 1 at Mile High Spirits.
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Authorities have not said what kind of gun the agent was carrying, or why it accidentally fired.
Denver police previously said investigators were waiting on alcohol and drug tests before determining whether any arrest would be made.
The distillery/bar in question, Mile High Spirits, has asked some very pertinent questions of the Federal Bureau of Investigation: namely why one of their officers was in their bad with a loaded pistol, participating in dance-offs and doing backflips. That bullet struck a man in the leg, leaving him with serious but non-life-threatening injuries.
Bishop is not assigned to the Denver office but works out of Washington, sources told KUSA.
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"The FBI will continue to fully cooperate with the Denver Police Department and the Denver District Attorney's Office as this matter proceeds through the judicial process", Sanders said.
The man who was shot, Tom Reddington, told "Good Morning America" last week that he and his friends were sitting at one of the tables when he heard "a loud bang" that he thought was a firecracker.
Mile High Spirits said on its Facebook page that the bar's management was "deeply saddened" by the incident.
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