It follows an incident on September 4 in Park Street, Bristol, when police were called at about 4am to reports of a fight outside a convenience store.
A 29-year-old man was taken to Frenchay Hospital with a fractured skull. Pipe was suspended by the League One club after the incident and is currently on loan at League Two Cheltenham.
Rovers spokeswoman Kirsty Pugh said: "This is now a matter for the courts.
"We will wait to see the outcome of the case before we decide on any further course of action."
Pipe, signed for Rovers in July 2007 in a £50,000 move from Notts County, has scored three goals in 78 appearances for the club.
The Welshman previously played for Coventry and has captained the Wales Under-21 team.