Body-worn cameras have captured the moment a man allegedly rammed a police car with three children in his vehicle.

The Peeramon man has been charged with 23 offences, including endangering children and serious assault of police, after an alleged drug-induced driving rampage stretching from Townsville to Ingham.

Police allege they first sighted the man about 2am on Monday, speeding down the wrong side of Woolcock St in Townsville.

The member of the public approached the car near Ingham when the man claimed to be in possession of a firearm, police allege.

The vehicle, later discovered to be a hire car, was located outside Ingham Police Station with a blown tyre.

When police approached with their firearms drawn, it is alleged the car sped off again to a BP service station on Townsville Rd.

Detective Acting Inspector Jason Shepherd said officers tried to converse with the 36-year-old man, alleged to be under the influence of methamphetamines, when he drove the car forward to try and ram the police car a number of times, police allege.

"When the offending vehicle was driving backwards it actually reversed into the front glass doors of the BP service station, damaging all the doors," Det Acting Insp Shepherd said.

Police allege they then realised there was a 2-year-old boy and an 11-year-old boy in the front passenger seat and a 5-year-old girl on the man's lap, all unrestrained.

The driver is accused of ignoring police and driving off again, doing laps around the fuel bowsers and turning back onto the road.

"Police have chosen not to pursue because there was unrestrained children in the car, so it would be too dangerous," Insp Shepherd alleged.

The driver turned around and returned to the service station, where one officer got out of the car to approach the man.

"The vehicle has driven quickly at the police vehicle and the that police officer had to dive back into the police vehicle to get out of the way," Insp Shepherd alleged.

Officers then quickly got out of the damaged police car and were able to remove the children and arrest the man, who was not in possession of a firearm.

The man's three "hysterical" children were taken to Ingham Hospital for observation, but were unharmed and released back to their mother.

Insp Shepherd praised the two officers who dealt with the situation, which resulted in no injuries.

"It was a very precarious situation and the Ingham police involved did an exceptional job."

The 36-year-old man was remanded in custody in the Townsville Magistrates Court and is due to reappear on Thursday, January 25.

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