Damien Bendall has been charged with the murders of a mother and three children, Derbyshire Police said.
The 31-year-old is understood to have been the boyfriend of the mother found dead alongside her two children and one of their friends, who had been sleeping over.
The bodies of John Paul Bennett, 13, Lacey Bennett, 11, their mother Terri Harris, 35, and Lacey's friend Connie Gent, 11, were discovered at a property in Chandos Crescent in Killamarsh, near Sheffield, on Sunday morning.
Derbyshire Police said Damien Bendall has been charged with their murder and remains in custody.
The force said the four bodies were found after police responded to a call about concerns for the safety of a man at the address at 7.26am.
Police had previously said officers did not have any prior contact with those involved.
Bendall, of Chandos Crescent, will appear at Southern Derbyshire Magistrates' Court in Derby on Wednesday.
Derbyshire Constabulary established an online portal on Tuesday for people to submit footage in relation to the deaths.
The public can report information or send CCTV, doorbell video or dashcam footage directly to the investigation team.
Meanwhile, officers also disclosed on Tuesday that Bendall was taken to hospital with self-inflicted minor injuries.
Detective Chief Inspector Sally Blaiklock, who is leading the investigation, said: "Our thoughts remain with the families of Terri, John Paul, Lacey and Connie - as well as the communities that have been affected by this most tragic of incidents.
"A large scene remains in place on Chandos Crescent and local residents will see an increased police presence in the area over the coming days, including patrols by officers in the local area.
"I would urge anyone who is concerned about the incident to speak to officers in the area or use the online reporting tool to pass information in confidence."