The 34-year-old officer is accused of attacking his wife, his alleged mistress and another man.
The judge agreed to move forward with the charges against Roberts after hearing testimony from Roberts' ex-wife and investigators from the Orange County Sheriff's Department and Orange County District Attorney's Office during the three-day hearing.
Back in Feb. 26, Roberts pleaded not guilty to rape, forcible sodomy, false imprisonment by violence or deceit, criminal threats, domestic battery, aggravated assault, dissuading a witness and vandalism.
Roberts faces a 23 year maximum prison sentence if he is convicted of all charges.
The Associated Press contributed to this report.
