Police said Daniels made her way over to another detective and performed the same acts on him.
Daniels' attorney told NBC News there were multiple undercover vice officers in the club during her show and after the customer touched her, officers arrested her on the spot.
Daniels has said she had sex with President Donald Trump in 2006, when he was married, which Trump has denied.
Daniels had posted $6,054 for bail and was released Thursday morning. "We will vehemently contest all charges".
"It reeks of desperation", he tweeted. "And a couple of officers asked her to allow them to place their face in between her breasts". He said she would probably leave the state later in the day. "I am all for following the rules and going by the book, no touching, no this, no that, but also at the same time, in my opinion, I feel like it was completely harmless", Curry said.
A Columbus police spokeswoman did not immediately respond to a message seeking comment from the Associated Press. Her attorney, Michael Avenatti, said the touching was non-sexual. An arrest affidavit said Daniels allegedly inappropriately touched male and female undercover police officers after they threw cash in her direction. A person who answered the phone at the strip club declined to comment.
Avenatti called the three misdemeanor charges "an absurd use of law enforcement resources".
The law, The Community Defense Act, prohibits adult entertainment - defined as nude or topless dancing - between midnight and 6am.
In this frame from video, porn actress Stormy Daniels is led into jail in Columbus, Ohio., after being taken into custody during a Wednesday evening, July 11, 2018, show. Avenatti successfully argued Daniels "has not appeared consistently and repeatedly at Sirens", according to prosecutors. Avenatti wrote that Daniels would no longer be performing at Sirens on Thursday, "but is looking for another club in the area". "I deeply apologize to my fans in Columbus". Trump has denied the accusation.
She is locked in a legal battle with Cohen and Trump to void the nondisclosure agreement formally barring her from speaking about the alleged affair.
Earlier this week, Daniels performed in Washington, D.C., at the Cloakroom, minutes before President Donald Trump announced his Supreme Court nomination.