Mark Turner, 38, was fatally injured when a black Peugeot crashed into two parked cars on Riseholme Road, Gainsborough, on 22 September.
A second person was seriously injured in the crash.
David Farrow, 39, has been charged with causing death by dangerous driving, causing serious injury by dangerous driving and aggravated vehicle taking.
Mr Farrow, of Haltham Green, Gainsborough, will appear at Lincoln Magistrates’ Court on 23 May.
Lincolnshire Police said that a 15-year-old boy arrested in connection with the incident would have no further action taken against him.
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