Benjamin Golden, a 32-year-old Newport Beach man, was seen on camera repeatedly punching Uber driver Edward Caban on Friday night.
After being punched several times and having his hair pulled, Caban was able to defend himself using pepper spray.
Golden was arrested at the scene and charged with assault on a cab driver and public intoxication.
In a statement, Taco Bell said, "Given the behavior of the individual, it is clear he can no longer work for us. We have also offered and encouraged him to seek professional help."
Costa Mesa police said they responded to Newport Boulevard after receiving a report of an attack on Friday just before 8 p.m.
Video obtained by ABC7 Eyewitness News shows what appears to be an intoxicated man falling over and struggling to give directions in the back seat of Caban's car.
Caban then pulls over in a parking lot and asks the man to exit the vehicle.
The man opens the door, but before getting out, police said he punched Caban.
"I didn't think something like this would happen this early in the night. That's why I stopped driving 2 a.m. shifts, for this very reason," Caban said.
Caban is now looking for a new job because he said he doesn't feel safe driving for Uber.
Because of past issues with passengers, Caban said he had the camera mounted in his vehicle, but he said this was the first time a customer had ever attacked him.