A police officer has been captured on camera drawing his gun on a man believed to be behind the wheel of a stolen ute during a dramatic roadside arrest in Pakenham.

The footage, captured by a second motorist, shows a police officer arguing with the driver of the ​allegedly stolen orange Holden ute before pulling out his gun and dragging the man from the vehicle. 

The police officer can be seen struggling to restrain the man before a second police car arrives and another officer runs onto the scene. 

It is believed the car was stolen during a burglary in upper Beaconsfield on Thursday. 

A Victoria Police spokeswoman said the arrest occurred near Koo Wee Rup Road in Pakenham at 11am on Friday.

She said a man in his 20s and a woman in her 30s were arrested at the scene and are assisting police with their inquiries.