Rainford pleaded not guilty. He was ordered to return to Van Nuys Superior Court on July 15.
Authorities arrested Rainford Monday. He's accused of violating a restraining order to stay away from Paris Hilton.
Deputies received a call about a man on the beach who was looking into Hilton's Malibu home on Pacific Coast Highway about 4:30 p.m. When they arrived, paparazzi directed them to the suspect.
Rainford, 36, was arrested without incident and was held in lieu of $20,000 bail.
Rainford attacked Cy Waits on April 27 as he and Hilton walked into a courthouse concerning another case regarding Hilton. Hilton's bodyguards tackled Rainford, who the heiress said was her stalker.
Rainford was arrested on suspicion of misdemeanor battery on a person. He pleaded no contest and was sentenced to 227 days in jail. He was released on May 20 after serving 24 days behind bars.
In January, Rainford pleaded no contest to civil assault after he was arrested for trying to contact Hilton at her home in the Hollywood Hills. That plea stemmed from an arrest in October for sneaking past a security gate at Hilton's home on a bicycle, knocking on her front door and trying to fight off her security guards.