George Zimmerman, the man cleared of shooting dead black teen Trayvon Martin, has been injured in an apparent road rage shooting in Florida.

Lake Mary Police said in a Twitter post that officers responded to a shooting involving the former neighbourhood watch volunteer.

The tweet provided no other details.

Zimmerman's attorney, Don West, said a motorist pulled up alongside Zimmerman's truck on the motorway and fired a single shot into the vehicle.

He said the bullet went through the passenger-side window and narrowly missed Zimmerman's head before it lodged in the roof.

Zimmerman's injuries were not serious, and he was released after receiving treatment at hospital, Mr West added.

A witness told Orlando television station WESH-TV that Zimmerman walked to an ambulance without help from police or medics.

Mr West told Fox News he did not know what occurred prior to the shooting.

Zimmerman has had several brushes with the law since his controversial 2013 acquittal.