Shortly after 5 a.m., a patrol officer spotted Dourdan parked on the wrong side of the street and he appeared to be sleeping, the Palm Springs Police Department said in a statement.
Dourdan was found in possession of suspected cocaine, heroin, ecstasy and prescription pills, the statement added.
The officer described Dourdan, 41, as "disoriented" and possibly under the influence of alcohol and/or drugs.
Over the weekend, Dourdan had attended the Coachella Music Festival, which took place in nearby Indio, Calif.
After five hours in custody, the actor posted $5,000 bail and was released. A rep for the actor wasn't immediately available for comment.
His arraignment is set for May 28.
The arrest was first reported by TMZ.com.