The report was posted online by news website Patch.com's Acworth branch. The Atlanta Police Department confirmed the report to ABCNews.com.
The woman identified herself as a 43-year-old single mother with a high school education and technical college degree in cosmetology who "managed many of the day-to-day operations of Rogers' estate."
She said that she needed to keep the job to support herself and her son and could not find a job that paid a comparable salary.
She said that in addition to being forced to perform sexual acts, she was required to purchase pornography, lingerie and sex toys for him. She said he touched her inappropriately and made sexual comments to her.
"Rogers treated [victim] as subservient and required [victim] to perform these various sexual acts on him as a condition of her employment," according to the report. "Rogers' conduct toward [victim] was outrageous and offensive and caused [victim] to suffer humiliation, fear, embarrassment and severe emotional distress."
The woman said she quit her job this year as soon as her son was financially secure with a full college scholarship.
"On June 29, 2012 she sent Rogers a resignation letter informing him that she could no longer suffer the indignities and dehumanization of his actions," the police report said. "She placed the resignation letter in Defendant's sock drawer in an effort to spare Rogers' wife from pain and humiliation."
The woman's attorney David Cohen did not respond to request for comment.
Waffle House spokesman Pat Warner told ABCNews.com that the woman was Roger's former housekeeper and was not employed by Waffle House Inc. Warner also said that earlier this year, Rogers transitioned from Waffle House chairman and CEO to just chairman.
No charges have been filed against Rogers and police are investigating the matter, according to the AP.
The Waffle House chain was started in the 1950s by Rogers' father Joe Rogers, Sr. in Decatur, Ga., and has over 1,500 restaurants. It is privately held.