She is accused of assisting Epstein's abuse of minors by helping to recruit and groom victims known to be underage.
She was arrested in New Hampshire and is due in federal court later on Thursday. Prosecutors will oppose bail.
Ms Maxwell has previously denied any involvement in or knowledge of Epstein's alleged sexual misconduct.
Epstein died in prison on 10 August as he awaited, without the chance of bail, his trial on sex trafficking charges.
He was arrested last year in New York following allegations that he was running a network of underage girls - some as young as 14 - for sex. His death was determined to be suicide.
Prosecutors allege that between 1994 and 1997 Ms Maxwell helped Epstein groom girls as young as 14.
The charges say she would build a rapport with them - including by taking them shopping or to the movies - and would later coax them into giving Epstein massages during which they were sexually abused.
"Maxwell played a critical role in helping Epstein to identify, befriend and groom minor victims for abuse," said Audrey Strauss, acting US attorney for the southern district of New York.
What is the detail of the charges?
Four of the six charges relate to the years 1994-97 when Ms Maxwell was, according to the indictment, among Epstein's closest associates and also in an "intimate relationship" with him. The other two charges are allegations of perjury in 2016.
The indictment says Ms Maxwell "assisted, facilitated, and contributed to Jeffrey Epstein's abuse of minor girls by, among other things, helping Epstein to recruit, groom and ultimately abuse victims known to Maxwell and Epstein to be under the age of 18".
While Piers Morgan on his twitter page sharing this, linking Price Andrew to the associate below.
I wonder if Prince Andrew has suddenly discovered he does sweat after all? pic.twitter.com/mcgDQLHcJ9— Piers Morgan (@piersmorgan) July 2, 2020
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