He was ordered to appear in court July 6, but failed to show, resulting in the warrant for his arrest.
The court date has been reset to August 10, per court records.
Whitehead was charged with shoplifting/petit larceny - under $200, a misdemeanor, according to Prince William County Police records.More news: Weekly Review: Sensex, Nifty hit new peak during the week
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Cowboys officials first learned of the incident Monday, per Hill.
A court special teamer and gadget player, Whitehead touched the ball 13 times last season.
The 5-foot-9, 180-pound Whitehead served as the team's punt and kickoff returner and combined for nine catches and 64 yards in 30 games over his first two National Football League seasons.
Running back Ezekiel Elliott was involved in an altercation on July 16 at a club in Dallas where a man was punched.
Whitehead's legal troubles are the latest in a string of off-field mishaps for the Cowboys this offseason. The team is also still awaiting word on the outcome of the NFL's investigation into domestic violence allegations against Ezekiel Elliott previous year.