The 47-year-old Uruguayan has until 6pm on March 9 to respond to the charge after being sent to the stands for kicking a drinks holder and then arguing with Bruce after seeing midfielder Jack Rodwell booked for diving by referee Mike Dean.
An FA statement read: "Sunderland manager Gus Poyet has been charged by the FA following the game against Hull City on 3 March 2015.
"It is alleged that his behaviour in the 35th minute of the fixture amounted to improper conduct.
He has until 6pm on 9 March 2015 to respond to the charge.
"Meanwhile, Hull manager Steve Bruce has been contacted by The FA in relation to the same incident and formally reminded of his responsibilities."