Police say the singer, also known as Robert Van Winkle, is suspected of stealing property near a house he was working on in the town of Lantana.
Some of the stolen items, including furniture and bicycles, were found at his home.
Vanilla Ice, now 47, sold 15 million copies of the single Ice Ice Baby in 1990.
He was one of the leading white rappers at the time, but in recent years his singing career has faded.
In 2008 Vanilla Ice was arrested for allegedly pushing his wife and in 2001 he spent a night in jail after being arrested following a domestic dispute.
He now stars in a renovation show named the Vanilla Ice Project on DIY Network.
Police say that the items Vanilla Ice allegedly stole have been returned to the owner of a vacant property next door to the home Robert Van Winkle is renovating.
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