The 21-year-old Toulouse star - who scored a crucial 32nd-minute try which inspired France to their 26-19 win - spoiled his Test debut by attempting to headbutt O'Driscoll at a 47th-minute ruck.
Television cameras picked up on the incident and following consultation with his linesman, English referee Tony Spreadbury awarded a penalty to the home side.
Ronan O'Gara duly slotted the place-kick to reduce arrears to 18-12.
His hearing will be held on Wednesday, March 16, with the three-man Discipline Committee chaired by Robert Horner of England.
Baby, in referring to the incident, admitted to journalists afterwards: "I knew immediately I shouldn't have done that. For a while, I really thought I would get a yellow card. It would have been a disaster for my first cap."