Haye's return was announced last month but up until today the identity of his adversary was unknown.
Germany-based Charr will serve as the Hayemaker's first test of 2013, with the fight to be shown on Sky Sports after Matchroom Boxing announced a long-term promotion deal with the former two-weight world champion.
Matchroom promoter Eddie Hearn used Twitter to break the news this evening, tweeting: "It gives me unbelievable pleasure to announce we have agreed a long term promotional deal with @mrdavidhaye @boxingbooth and Hayemaker.
"First up @mrdavidhaye will face Manuel Charr live and exclusive on @SkySports 1 on June 29th from MEN Arena. Full press conference to follow on Wednesday."
Charr has lost just once in his professional career, a stoppage defeat to WBC champion Vitali Klitschko.