Boarding school-educated Jozeph John Francis McGrath was also accused of taking a Ferrari from his parents' house at Low Burnham, near Epworth, Doncaster.
The 18-year-old, known as Joe, died after falling from a bridge on to the northbound stretch of the Lincoln bypass. Earlier that day he had been bailed by North Lincolnshire magistrates.
He faced charges of theft of watches and cash from a house at Low Burnham, near Epworth, and aggravated vehicle taking. He was arrested by Humberside Police at Gatwick Airport on May 12 and appeared in court on May 18 when the case was adjourned.
Lincolnshire Police are investigating his death and an inquest has been opened and adjourned.
A spokesman for the force said: "From inquiries made at the scene and information from witnesses, there do not appear to be any suspicious circumstances to the death.
"A car was found abandoned nearby."
Mr McGrath attended Ashville College in Harrogate between 2000 and 2003. He was buried at St Andrew's church, Epworth, last Saturday.