Michael Parham, 40, of Rancho Cucamonga was no longer employed with the department as of Nov. 9, sheriff's spokeswoman Jodi Miller said.
Parham, who was hired by the Sheriff's department in 1998 made news in 2004 when he was shot twice by a man during a traffic stop in Muscoy and survived.
Parham's alleged assailant, Ricardo Alfonso Cerna, later fatally shot himself in the head while sitting in an interview room at the Sheriff's Department.
Parham is accused of misdemeanor assault under the color of authority in the May 20 beating of San Bernardino resident Mario Madrigal.
Another deputy who responded to the disturbance call, Shadia Adham, 33, was charged with impersonating another deputy, but prosecutors dropped the charge due to insufficient evidence, said Deputy District Attorney Robert Bulloch.
Parham, Adham and two other deputies were called to the 4000 block of North F Street in an unincorporated area of San Bernardino shortly after 1 a.m. May 20 after neighbors reported a highly intoxicated Madrigal was throwing bricks at their house.
According to sheriff's reports, Madrigal lay handcuffed on the ground screaming for help as Parham joked with the other deputies while repeatedly kicking Madrigal in the chest and groin. At one point, Parham placed his foot on Madrigal's head and used his foot to force Madrigal's face into the dirt, authorities said.
Parham was hired in April of 1998. After completing the academy he was assigned to West Valley Detention Center in Rancho Cucamonga in September of 1998. In July of 1999 he transferred to Central Detention Center in San Bernardino.
In April of 2003 Parham was given patrol duty, an assignment he held until his termination last week.
Parham's attorney, William Hadden, couldn't be reached for comment Thursday.