The incident happened at around 8pm on Friday when officers attended a property in Worksop.
Brian McDonald, of Forest Walk, Worksop, has been charged with two counts of assaulting an emergency worker and remains in police custody.
The 47-year-old is scheduled to appear at Nottingham Magistrates’ Court on Monday morning.
Inspector Nick Butler, of Nottinghamshire Police, said now was a ‘particularly challenging period’ to be an emergency worker.