Eduardo Cruz Garcia, 39, appeared in court on Tuesday and is charged with assaulting a federal officer.
This comes as the Department of Justice released new images on Wednesday from the incident.
The DOJ say multiple federal agents wearing vests that identified them as "ICE Police" were attempting to stop a van on Monday, being driven by Cruz Garcia, who they say is living in the country without legal permission.
Agents say Cruz Garcia and a passenger inside the van were asked to open the van's windows but refused.
That's when he allegedly drove the vehicle into the agent as they tried to take him into custody.
They say he fled the scene by driving the van forward as the ICE agent was standing next to the vehicle.
Officials say Cruz Garcia "weaponized" his vehicle when he struck the agent, wedging him between the van and one of the ICE vehicles.
The agent then fired his weapon as the vehicle fled. It is unknown whether anyone was struck by the gunfire.
Photos taken by a bystander in the area showed the agent on the ground, leaning against a gray vehicle, and later on a stretcher.
Cruz Garcia allegedly also struck another ICE vehicle as he drove away.
The agent suffered injuries to the thigh and shin, and was taken to a nearby hospital to be treated.
Cruz Garcia faces a maximum penalty of 20 years in prison and a $250,000 fine.
Federal authorities said they were originally stopping the vehicle to make contact with a man identified as Friedrich Castillo-Ormeno, who they said is an immigrant from Peru who is also allegedly in the country without legal permission.
According to ICE, Castillo-Ormeno was given a final order of removal by an immigration judge in January. His whereabouts remain unknown.