The Blair Athol man, 40, allegedly caught officers’ attention when they noticed him driving along Frome Street with a dog in his lap at around 7pm.
The pursuit started on Pulteney Street and continued past the Adelaide Zoo, before police vehicles arrived from all directions, cornering the man.
Officers had tried to stop the car on the corner of North Terrace but the driver allegedly refused to pull over and leave the vehicle.
Police smashed both the driver’s side windows and used capsicum spray to try to remove the man, before four officers wrestled him out from behind the wheel of the SUV.
A 15-year-old girl, the man’s passenger, will also face charges including failing to stop, hindering police and disorderly behaviour.
The man has been charged with a number of offences including dangerous driving to escape a police pursuit and driving on a tram line.
Police Commissioner Grant Stevens said moments like these highlighted the risks officers could sometimes face.
“Being involved in these types of activities is probably one of the most dangerous activities we undertake,” he said.