The women were attacked close to Grove Avenue in Bentley, near Doncaster, at about 11.15am on Thursday, September 10.
Paul Eames, aged 40, from Bentley, Doncaster, has been charged with six sexual offences, including three counts of rape, one of attempted rape, threats to kills and two counts of robbery.
He is remanded in custody and is due to appear at Doncaster Magistrates’ Court this morning.
Detective Sergeant Stuart Hall said: “Specialist officers are continuing to support the two women.
“I understand the upset and shock this incident will have caused locally and I would reassure people that incidents of this type are extremely rare.”