Samuel Jolumi, 26, Ishola Sunday, 27, Toheeb Popoola, 26, and Joberto McGee, 20, were detained after cops boarded the vessel on Friday amid reports of stowaways threatening crew.
The men, all of no fixed address, are due to appear at Chelmsford Magistrates' Court on Monday.
Essex Police was called at around 9.15am on Friday to a call relating to the safety of the crew on board the Grande Tema.
The 71,000-tonne ship had set off from Lagos, Nigeria, on December 10.
It arrived at the Port of Tilbury in Essex just after 4.20am on Saturday, according to MarineTraffic.com.
The ship's operator, Grimaldi Lines, said there were no reports of injuries.
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