She ended by re-enacting receiving a fatal gunshot to the head at the spot in Dallas where President John F Kennedy was assassinated in 1963.
Sergeant Warren Mitchell said Badu was charged after a witness offered a sworn statement to police on Thursday.
Badu's spokeswoman had no immediate comment on Friday.
The singer, who was born in Dallas, performed a walking striptease in front of tourists and pedestrians during the shoot in Dealey Plaza on 13 March for her video for the song Window Seat.
Sgt Mitchell added that the police department has had "people calling from all across the country to express their concern".
"Having a fact witness that was there, is what let us file the charges," he said.
"After much discussion, we feel that these charges best fit her conduct. She disrobed in a public place without regard to individuals and small children who were close by."
He said Badu can either fight the charge or pay the fine. Disorderly conduct is punishable by a fine of up to $500 (£328).
Witness Ida Espinosa, 32, declined to comment to The Associated Press on Friday.
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