But the Santa Barbara’s Sheriff’s Office let him off with a warning, gossip site TMZ reported.
However, Mr Brooks allegedly returned to the property two days later. He has been arrested by local police and charged with one count of misdemeanour trespassing.
It is not known whether the duke and duchess were in the home at the time.
It comes a week after the couple’s explosive interview with Oprah Winfrey was broadcast around the world.
Ms Winfrey was left open-mouthed when Meghan and Harry recounted that a family member – not the Queen or Duke of Edinburgh – had raised concerns about how dark their unborn son Archie’s skin tone might be.
There has been much speculation about which member of the royal family they were accusing of racism.
During the interview the couple would not be drawn on who had offended them, and Winfrey later said Harry wanted it known it was not his grandparents.
The Duke of Cambridge spoke out in defence of the monarchy on Friday, saying “we’re very much not a racist family”.
In a Buckingham Palace statement the royal family said it was taking the couple’s allegation “very seriously”.
The duke and duchess’ popularity with the public fell to its lowest level according to a YouGov poll in the wake of the interview.
The survey questioned 1,664 adults between March 10-11, and found Harry’s positive rating with people fell 8 per cent to 45 per cent while Meghan’s was 31 per cent also down 8 per cent – compared with a survey conducted between March 1-2.
Those who said they felt negatively about the duke increased 7 per cent to 48 per cent, and the duchess’ disapproval rating rose 5 per cent to 58 per cent.