Wisconsin Rapids paramedics loaded a patient into the ambulance when the suspect jumped into the driver's seat, forcing the paramedics to hop off for their own safety, ABC Milwaukee affiliate WISNreported.
Benjamin Feltz, 37 of Nekoosa, Wisconsin, was identified as the suspect.
Feltz was charged for leading police on a chase out of Wisconsin Rapids, swerving around tire deflation devices and bounding through dirt roads at a landfill before eventually reaching Highway 73.
"Come out of the ambulance! This is the Wood County Sheriff's Department. Come out with your hands in the air and surrender. You are surrounded," officers called out.
As Feltz came out of the ambulance, officers noticed he was naked.
The patient in the ambulance was taken to the hospital for further treatment.
Police said Feltz would face multiple charges, including third offense driving while intoxicated.
Storyful contributed to this report.