Stewart, 74, whose raspy voice has produced 16 top-10 hits in the U.S. and four No. 1 singles, was charged with simple battery, along with his 39-year-old son, Sean Stewart, WPEC reported.
Both men were issued notices to appear in court Feb. 5, the television station reported.
According to a probable cause affidavit filed by police, Rod Stewart punched Jessie Dixon, who was overseeing the event in the children's area of the hotel, WPBF reported. Town of Palm Beach police officials said Dixon saw a group of people trying to enter the event who were unauthorized to do so, the television station reported.
The group became loud and unruly, police said. According to the police report, Sean Stewart, 39, the son of the singer from his ex-wife, Alana Stewart, got "nose to nose" with Dixon and eventually shoved him, WPEC reported.
According to the affidavit, Dixon claimed Rod Stewart punched him in his "left rib cage area," WPTV reported. Police corroborated the guard's claim with security footage, the television station reported.
Rod Stewart, who was knighted in 2016, later apologized, the television station reported.
A representative for the singer had no comment, People reported.