Joseph Isaacs, 39, of no fixed address, has also been charged with aggravated burglary in connection with the incident and will appear at Taunton Deane Magistrates' Court on Monday.
Jim Booth, 96, was allegedly attacked at his home in Taunton, Somerset, on Wednesday.
Mr Booth, who was photographed dancing with the Duchess of Cornwall at an event to mark the 70th anniversary of VJ Day, was left with serious injuries to his head and body.
In a statement released through police, his family thanked officers and medical staff.
"He is the head of the family, a dearly-loved father to his four children and adored by his grandchildren and great-grandchildren, to whom he's simply known as The Legend," they said.
"He is, and always has been, our own family hero."
On his condition, they said: "Our father is not easily defeated and he grows a little stronger each day.
"We are all now focused on the long process of recovery, which will be helped by the love and support of all those around him."
Mr Booth joined the Royal Navy as a seaman aged 18 and served throughout the Second World War.
On D-Day, he climbed into a fold-up canoe and shone a beacon out to sea so Allied craft could make it to the shore.
Mr Booth was awarded a Croix de Guerre military medal by France for his bravery during the conflict.
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