Kristian Dieter Glaser, 43, was charged with sexual intercourse without consent after he allegedly assaulted the woman at Cronulla between July 21, 2013 and August 22, 2013.
In a statement in March, NSW Police said the former senior constable was on-duty at the time of the alleged assault.
"The man is no longer a member of the NSW Police Force," the statement said.
Mr Glaser was arrested in February this year after an investigation by the police Professional Standards Command.
He was given bail and faced Downing Centre Local Court in March, however media were initially unable to report on his case because the court refused access to documents.
The refusal was overturned this month after a solicitor appeared in court for the Herald.
Mr Glaser appeared in court on Thursday, where his matter was adjourned for a case conference.
He will return to court on August 22.