The Village of Bolingbrook blurred the video before releasing it.
The man's cousin told ABC7 he went to police after agents approached him outside his home, without identifying themselves.
Bolingbrook's mayor says the village has reviewed the incident, and does not believe officers violated the "TRUST Act," which bars local police from assisting federal agents.
Agents told police they were taking the man into custody following an incident nearby. they claim the man rammed their vehicle.
A spokesperson for U.S. Immigration and Customs Enforcement said in a statement, the man "refused to comply with officers' lawful orders to exit his vehicle.
They say he intentionally rammed an agent's vehicle head-on.
They also say he was previously removed to Mexico on five separate occasions.