Federal agents arrested Mexico’s former top security official and charged him with receiving millions of dollars in bribes from the Sinaloa Cartel while he was in charge of the country’s war on drug gangs from 2006 to 2012, U.S. officials said Tuesday.

Genaro García Luna, a former intelligence officer who worked closely with U.S. officials during his tenure, was arrested in Dallas on Monday and charged with three counts of cocaine trafficking conspiracy and one count of making false statements on a U.S. residency application...