Matthew Daniel Fisher, 36, who is suspended from duty with North Yorkshire Police, did not enter any pleas at Hull Magistrates’ Court.
The police constable, who worked in Selby, is accused of two counts of sexual assault and one count of misconduct in public office.
The misconduct allegations include engaging in sexual activity while on duty, misusing the police national computer and using a police radio for personal communication.
Fisher, whose address was not disclosed by the court, was given conditional bail which prevents him from contacting the complainants
He will appear at Hull Crown Court for his case to be heard on August 9.