The powerful centre collided with fellow England star Danny Care in the opening minutes of Harlequins Premiership final victory on Saturday.
Tuilagi was spoken to by referee Wayne Barnes and no further action was taken, but citing officer John Byett judged that the 21-year-old had contravened law 10.4.
"Manusamoa Tuilagi, of Leicester Tigers, has been cited for a 'tip tackle' on Harlequins' Danny Care during the Aviva Premiership final at Twickenham Stadium on Saturday, May 27," read an RFU statement.
"Tuilagi has been charged with a breach of Law 10.4 (j) following a report by the citing officer John Byett and will appear at the Bristol Filton Holiday Inn on Tuesday, May 29 (8pm). The case will be heard by a single RFU judicial officer, Christopher Quinlan QC."
Under IRB guidelines, recommended suspensions range from two weeks for a 'low-end' to 10 weeks or more for those considered to be in the 'top-end' category.
If found guilty Tuilagi, who has been tipped for a place on next year's Lions tour, is likely to miss some if not all of England's summer tour.
Stuart Lancaster's men face the Springboks in Durban, Johannesburg and Port Elizabeth next month, they also have two midweek tour matches.
But Lancaster remains hopeful that Tuilagi will escape unpunished.
"Looking at the incident I am pretty confident he will be fine, but we will wait and see," said the England head coach.
It is just the latest disciplinary issue to embroil the Samoan-born back in recent months.
He was fined £3,000 for jumping off a ferry and into Auckland Harbour following England's World Cup exit last October.
He was charged £4,800 by the IRB for wearing a sponsored mouthguard during the tournament.
The Tigers star also missed last season's showpiece final after punching Northampton and England wing Chris Ashton at the semi-final stage.