The charge relates to an incident in January 2015 in Compton, a suburb of Los Angeles.
Knight was accused of deliberately running over two men with his pick-up truck outside a hamburger restaurant following an argument on the set of a commercial for Straight Outta Compton.
One of the victims, Terry Carter, died of his injuries while the other, Cle "Bone" Sloan, suffered serious injuries to his feet and head.
Footage of the incident captured by security cameras show Knight's vehicle pulling up to the drive-in shop, with one of the victims approaching the driver's side window. Following what appears to be a brief discussion, a struggle then ensues.
Knight's truck is seen going into reverse, throwing the man to the ground. It then moves forward, driving over his legs and slams into the other victim, who was killed.
Knight turned himself in to authorities a day after the incident. His attorneys had said he was acting in self-defence and was fleeing armed attackers when he ran over Mr Carter and Mr Sloan.
Mr Sloan has denied claims he was carrying a gun during the confrontation.