Authorities quickly responded and got on both sides of the patrol vehicle.
Estrada allegedly managed to get one of his wrists free from handcuffs before busting open the back window of the police vehicle.
The entire incident was captured on video shot by Jennifer Mustain and later posted to Facebook.
Martin Gregory Estrada, 31, was being transported between facilities when he slipped from his handcuffs, shattered the passenger window, and climbed onto the roof of the vehicle.
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Jason Mustain called police to report Estrada's feet hanging out of the window, according to KTXS. The officer refused, and continued on as the prisoner climbed atop the vehicle.
The officer driving the vehicle radioed for help and kept going.
The office says Estrada was being taken to Abilene from a hospital facility in Wichita Falls where he'd allegedly assaulted someone. Because the Taylor County deputy's vehicle window was broken out, Wichita County Sheriff's Office administrators offered to have the prisoner transported by them on to the Taylor County Jail.
Taylor County jail records show Estrada was being held Thursday on escape, evading arrest, unauthorized use of a motor vehicle and drug possession charges.