The National Guard was deployed on Minneapolis' I35W bridge to aid local police in containing protesters.
The footage captured on May 31 shows a lineup of police officers discharging tears gas and flash grenades.
A subsequent clip shows soldiers from the National Guard exiting metro buses at the same location where a large truck drove into protesters.
The filmer explained: "Police fired off aerial tear gas and flash-bang at crowd overlooking the I35W bridge after a semi ploughed through a crowd of protestors.
"People cleared off soon after."
