Daniel Khalife is charged with escaping HMP Wandsworth after his arrest on Saturday, following a four-day manhunt.
The 21-year-old is due to appear in Westminster Magistrates Court on Monday.
He was arrested on a towpath in Northolt after being pulled off a bicycle by a plain-clothed officer.
Mr Khalife escaped Wandsworth prison on Wednesday morning after hiding under a delivery lorry.
The former soldier was being held on remand at the south London jail after previously being charged with terror offences, which he denies.
This breaking news story is being updated and more details will be published shortly. Please refresh the page for the fullest version.
You can receive Breaking News on a smartphone or tablet via the BBC News App. You can also follow @BBCBreaking on Twitter to get the latest alerts.