The Los Angeles County district attorney's office said the 48-year-old Zendejas was arrested on felony warrants at his Yorba Linda home.
Deputy District Attorney Rouman Ebrahim said Zendejas was charged with one count each of rape by use of drugs, rape of an unconscious person, sodomy by anesthesia or controlled substance and sodomy of an unconscious victim.
Prosecutors alleged that on Jan. 26, Zendejas gave the customer a drink that made her groggy. The patron told authorities she woke up in a nearby motel room and alleged she had been raped.
Zendejas was later released from custody, said his attorney, Timothy Younger. Arraignment was scheduled for Friday at the Pomona courthouse.
"Mr. Zendejas was shocked and surprised upon being advised of the allegations against him," Younger said. "He is anxious to begin immediately to defend his good name and he is very grateful and appreciative of the support he has already received from family and friends who know these allegations are simply slanderous."
Zendejas was held in lieu of $260,000 bail, with arraignment scheduled for Friday at the Pomona courthouse.
If convicted, Zendejas could face up to 15 years in prison.
Zendejas retired in 1995 after playing 10 NFL seasons, including stints with the Rams, Houston Oilers, Atlanta Falcons and San Francisco 49ers.
He was perfect kicking field goals for the Rams in 1991, going 17-of-17. His only miss that year came on one of his 26 extra-point attempts.
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