The 73-year-old was charged with murder after the body of university student Jamie Gao was found floating in waters off Cronulla in Sydney's east yesterday morning.
Rogerson appeared briefly at Bankstown Local Court this afternoon, where his lawyer didn't apply for bail.
He's due before Central Local Court on July 22, where he will appear by audio visual link.
Fellow former Sydney detective Glen McNamara was charged yesterday with the 20-year-old's murder.
Gao was allegedly killed last Tuesday after a drug deal went wrong.
A handcuffed Rogerson was frogmarched out of his Sydney home in dramatic scenes on Tuesday morning and taken to Bankstown police station for questioning.
Rogerson's lawyer, Paul Kenny, earlier on Tuesday said the disgraced former policeman had been "treated like a dog" by police.
Rogerson was meeting with Mr Kenny at his Padstow Heights home on Tuesday morning when police swooped, banging on his door and surrounding the home.
Mr Kenny said he would be calling NSW Police Commissioner Andrew Scipione to complain about his client's treatment.
"He was treated like a dog. I've never seen conduct like this by NSW police," Mr Kenny said.
"This is like something off a TV show, but a bad TV show."
Mr Kenny said Rogerson, 73, was just about to head off to a meeting with police when the officers arrived.
"Police starting smashing at the door and a number of them came into Mr Rogerson's office where we were having a legal conference to make arrangements to go into the city," he said.
"I was just about to call Superintendent (Luke) Moore to let him know we were on our way."
The NSW Police said in a statement that they were not satisfied with Rogerson's arrangements and decided to arrest him.
Mr Kenny said on Tuesday that Rogerson was shocked at being linked to the murder.
He appealed for calm, telling journalists Rogerson wanted to avoid any media hysteria.
"We don't want any OJ Simpson situation," he said.
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