An affidavit listed the victim as McClure's 39-year-old wife, Miranda, after they responded to a call from the couple's home.
McClure was released on $2,500 bond and is scheduled to appear in Juvenile Domestic Relations Court on Feb. 21.
McClure, 40, competed in 288 NASCAR Xfinity Series races from 2003-16. He had just one top-10 finish, an eighth-place run at Daytona.
The driver was hospitalized for a concussion after a multi-car accident at Talladega in 2012 and missed five races as a result. He later said the concussions he suffered were one reason for his decision to retire from driving.
The McClure family also suffered personal setbacks in 2011, when a hurricane severely damaged their Southwest Virginia home.
In 2016, the Chilhowie, Va., racer teamed with another ex-driver Hal Martin to form Martin McClure Racing. They fielded a NASCAR K&N Series team and found immediate success with Knoxville driver Chad Finchum winning at Bristol and Austin Cindric winning two road-course races.
Last season with 2016 K&N Rookie of the Year Hunter Baize behind the wheel, the Abingdon-based team had five top-10 finishes in eight races, including a fourth at Bristol and a sixth at Memphis.
Since then, the team struggled with financial issues and was forced to lay off some employees last November. They did not enter last weekend's season-opening K&N race at New Smyrna (Fla.), although the team posted Sunday on its Facebook page plans of re-joining the K&N Series later in the season.
The team released a statement Monday about McClure’s arrest and he would be taking an indefinite leave of absence, and that Martin would be overseeing all the team’s operations.