Hardy, 51, was scheduled to make an initial court appearance Friday in D.C. Superior Court.
D.C. police said Hardy and a relative returned to a room at the Mayflower Hotel at about 1:15 a.m. Friday. Police said the woman got into a bed, and a short time later Hardy allegedly got into the bed and fondled her. She then called police, investigators said.
At a Superior Court hearing, Hardy was ordered to stay away from the relative both in D.C. and L.A. He will be released on his own recognizance.
The Kings said in a statement that they are aware of the charge and have no further comment.
Hardy played in the NHL for 15 years. He began his second stint as an assistant coach for the Kings in 2008.