Last week, a woman, now identified as Michele Bundy, filed a temporary restraining order against Sharpe.
According to legal documents obtained by Brooks, Bundy was allegedly "forced to have sex with him."
The restraining order petition also says: "He repeatedly calls and threatens her life. Places her under surveillance and calls to say he is watching her."
Sharpe has not been charged with a crime or been arrested.
Though Sharpe appeared as usual on "The NFL Today" on Sunday, he has since decided to take a break.
"I have decided to step aside from the NFL Today until this matter is resolved," he said in a statement.
CBS Sports Senior Vice President of Communications LeslieAnne Wade said on behalf of the network: "We accept Shannon's decision and decline to comment further on a pending legal matter."
The ex-Denver Bronco and Baltimore Raven is under consideration for the Hall of Fame.