Footage has been revealed of an armed man trying to escape a high-speed police chase by hijacking a car on a busy motorway.

Two men had been tracked by police from Queensland, Australia, on a 150km police chase from near Brisbane through to New South Wales.

Police halted the blue Mitsubishi Lancer with road spikes at Tweed Heads before one of the men fired his semi-automatic handgun at police.

He then tried to shoot at a passing car, forcing it to stop suddenly and the car behind it to plough into its back, sending belongings across the busy Pacific Motorway.

Both drivers appeared unhurt.

Apparently trying to hijack another car, the 32-year-old pointed his gun at another vehicle, which struck him, knocking the gun from his hand.

Lying by the roadside, the man was then arrested by police, who had been following the pair while dodging bullets.

The other man, aged 20, was also arrested by police.

New South Wales Police said the men have been charged with intent to murder, discharging a firearm to avoid arrest, attempted car-jacking and Skye's law.

Skye's law is aimed at greater punishment for people who lead police on dangerous high-speed chases and is named after 19-month-old Skye Sassine, who was killed when two alleged thieves crashed into her parents' car in Sydney.

You can see the police helicopter footage of the end of the pursuit on the 9News website.