The 17-year-old, whose name police did not release, was charged with public order offenses and scheduled to attend a Dec. 1 hearing.
Officers found the teen and a friend trying to climb the wall around 2:30 a.m. on Oct. 30. The friend, also a teenager, was given a warning for drunkenness. There have been a number of embarrassing security lapses at the royal families' residences in recent years.
In September, a protester disguised as Batman climbed onto a ledge at the front of Buckingham Palace and remained there for several hours. In 2003, a Daily Mirror reporter revealed just before a state visit by U.S. President George W. Bush that he had been hired to work at the palace, where Bush stayed, even though he gave false references, AP reports.