The 20-year-old allegedly attempted to throw the spear at officers in Palmerston, about 20km south of Darwin, on March 8.
Police say an officer fired six shots but have not confirmed how many rounds struck the man.
He was taken to hospital in a critical condition and has since recovered.
Police had charged the man with going armed in public, assaulting police and conduct endangering life, a spokeswoman said.
He was issued on Monday with a summons to appear in court on May 3.
Police were responding to a report of a domestic violence incident when the man allegedly confronted them.
The officers involved repeatedly warned him to drop the spear before he was shot, police say. The other officer fired a Taser.
Police continue to investigate the incident.
Assistant Commissioner Michael White has previously said officers were in danger and decided to use lethal force.
The Office of the NT Independent Commissioner Against Corruption, the NT Ombudsman and the North Australian Aboriginal Justice Agency were advised after the incident for independent oversight.
The shooting occurred three days before NT Constable Zachary Rolfe was acquitted at trial of murdering Aboriginal teenager Kumanjayi Walker in 2019.
Const Rolfe shot the 19-year-old three times during a failed arrest attempt.
12°C