Kerry Kennedy, a daughter of the late Robert F. Kennedy and the ex-wife of Gov. Andrew Cuomo, was charged with driving while on drugs and causing property damage, New York State Police said.
But her spokesman said she did not have drugs in her system.
Police said they had received 911 calls about a car driving erratically on I-684, collided with a tractor-trailer near exit 4, and then leaving the highway at exit 3.
North Castle police found Kennedy, 52, of Bedford, N.Y, behind the wheel of a disabled 2008 Lexus RS 350 on State Route 22 at about 8 a.m. on July 13, 2012. The car had some damage and a flat tire, police said.
State troopers then arrived and investigated. Authorities said Kennedy's ability was impaired by drugs and issued her tickets.
However, Kennedy's spokesman, Ken Sunshine, said his client was clean.
"Kerry Kennedy voluntarily took breathalyzer, blood and urine tests -- all of which showed no drugs or alcohol whatsoever in her system," Sunshine said. "The charges were filed before the test results were available."
Kennedy is due in court on July 17.
She and Cuomo, who divorced in 2005, have three daughters.