The alert went out about 11:20 p.m. after Dolton police said she was taken by someone wearing a mask and driving a 2005 Ford 500 sedan about 2:45 p.m.
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The vehicle sustained front-end damage while fleeing law enforcement.
They were last seen traveling inbound on the Dan Ryan Expressway near 87th Street when an Illinois State Police trooper spotted the car and began pursuing it, police said.
The driver of the Ford sideswiped another car, and pushed that vehicle into the side of the squad car, injuring the trooper.
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The trooper was taken to the hospital and is expected to be OK. The driver of the Ford managed to get away.
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The 87th Street ramp was temporarily closed to traffic for the investigation, but has since been reopened.
Dolton police said the incident started in the area of 142nd Street and Woodlawn Avenue. The girl's father told police his daughter texted him, saying she was at a White Castle restaurant in Dolton in a car with people she didn't know.
The father said the people wanted money.
He was able to find the vehicle and his daughter, but, when he tried to open the car door, the driver drove off at a high rate of speed.
Police later learned the girl knew at least one of the people in the car with her, but, because she was not immediately located, an Amber Alert was issued.
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Chicago police and the FBI helped locate the vehicle, missing girl and two people with her in the area of Altgeld Gardens in the 13100-block of South Champlain Avenue just after 2 a.m.
Two juveniles were taken into custody, and the girl was released to her parents.
Police said she is not cooperating with detectives.
The Amber Alert was canceled about 3:30 a.m.