Officers were called after Locklear was seen revving her engine loudly and repeatedly reversing over a pair of sunglasses in a car park in Santa Barbara, California.
She then stumbled about in moving traffic, it is claimed.
Slumped: Heather Locklear is helped from a police car after being stopped for drug-driving in Santa Barbara, California
Under arrest: The 47-year-old actress is cuffed and taken into custody
Police made the 47-year-old balance on one foot to see if she was sober - but she had to steady herself on a road sign.
Police said a witness, who didn't recognise the star, reported that she had stopped on a nearby highway and left her car, apparently stumbling into traffic.
Alcohol was ruled out after tests but Locklear was charged with driving under the influence of prescription medication and released on £2,700 bail.
Patrol spokesman Tom Marshall said following the call from the resident, an officer found Locklear's car parked on a state highway and blocking a lane in Montecito, a wealthy community about 90 miles northwest of Los Angeles.
She was believed to be alone in the car, Marshall said.
Locklear's TV credits include police drama T.J. Hooker, Melrose Place and Spin City, and her film roles include The Perfect Man and Uptown Girls.
Assume the position: The Dynasty star puts her hands behind her back to be handcuffed
Walk the line: The actress failed to complete the sobriety tests and was arrested
The actress checked into a medical clinic in June to seek treatment for anxiety and depression.
Last year, she was divorced from Bon Jovi guitarist Richie Sambora after 11 years of marriage. They have a daughter, Ava Elizabeth.
Neither her lawyer nor her publicist was available for comment.
Soap star superstar: Heather at the 56th Annual Emmy Awards in 2004
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