Gerald Montgomery, 51, is accused of second degree assault after trying to sneak in the back door of a home last Thursday.
Montgomery took a customer to Denver international airport and then went back and tried to get into her house, police spokesman Sonny Jackson told the The Denver Post.
The suspect fled from the scene when he realized someone else was in the house.
Montgomery remains in custody on $10,000 bail as he waits to appear before a judge this week.
Uber, which reimbursed the customer for the cab fare, automatically suspended the driver.
"Upon learning about this incident from our valued rider, we immediately deactivated the driver's access to the platform, pending a full investigation," Uber spokeswoman Taylor Patterson said in a statement sent to AFP.
"We remain committed to supporting Denver law enforcement in any way we can," she added.
Since its founding Uber has staved off fierce competition with traditional taxi companies, thanks to the million trips it carries out daily in 295 cities in 55 countries.
But despite its success, the company was forced to announce last week that it was establishing a worldwide code of conduct to placate customers worried since an Uber driver was charged with rape in India in December.
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