One man was killed and another four were injured when Khan allegedly rammed his car into a group of homeless people sleeping on a Mumbai sidewalk in September 2002.
Abha Singh, a lawyer involved in the case, said the court on Wednesday also charged Khan with negligent driving.
Khan pleaded not guilty. The trial is scheduled to begin August 19.
Khan could face up to 10 years in jail if convicted of the homicide charge.
The 47-year-old Khan, one of Bollywood's most popular stars, has acted in about 90 Hindi-language films in his 25-year career.