He was handed over to French authorities for a day so he could be charged.
Mohamed Abrini was arrested last April in Brussels.
The gun and bomb attacks in Paris on November 13, 2015, killed 130 people.
Mohamed Abrini was spotted in a car with key Paris suspect Salah Abdeslam when it stopped at a petrol station in Ressons two days before the attacks on the French capital.
His fingerprints and DNA were found in two “safe houses” in Brussels, as well as in a car used during the Paris attacks.
Following his arrest, Mohamed Abrini also admitted picking up Salah Abdeslam after the attacks and driving him back to Belgium.
He was driven to Paris from Belgium in a heavily armed convoy so the case against him could be formally launched, BFMTV reported.
Mohamed Abrini was not asked any questions during his court appearance in front of six judges, his lawyer Emmanuel Pierrat said in a statement.
However, the lawyer said his client was in Belgium when the attacks in Paris were carried out.
Emmanuel Pierrat also said the fact that Mohamed Abrini was being investigated in both France and Belgium over the Paris attacks could lead to legal complications.
Mohamed Abrini is also under investigation in Belgium over the bomb attack on Brussels Zaventem Airport, which along with an attack on a metro station in the city killed 32 people.
Both the Paris and Brussels attacks were claimed by ISIS.
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