Alan Cronin, 60, from Guilden Sutton, near Chester, was found with serious injuries near Rossett flyover on the A483 Wrexham bypass on Thursday.
Polish national Damian Niepieklo, 22, has been charged with causing death by dangerous driving, failing to stop and failing to report an accident.
He was remanded in custody to appear before magistrates on Monday.
Mr Cronin, died following the collision at Junction 7 of the northbound carriageway at about 14.20 BST.
Ch Insp Darren Wareing repeated an earlier appeal for witnesses, urging anyone with information to get in contact via the 101 line.
In a tribute, the family of Mr Cronin, a member of Chester Triathlon Club, described him as the "best possible dad, husband, brother and partner to have, willing to do anything for anyone".
A man has been charged in connection with the death of a cyclist in a Wrexham crash, say North Wales Police.