That judge decided last week that it was in the public interest to release it. The video was shown during a preliminary hearing in April.
Cherie Amoore, 32, is accused of taking the 7-week-old child from his mother and leaving the mall on March 31st.
The child was missing until Amoore's family called police after a seeing images of the suspect. The child was found safe at Amoore's home five hours after the kidnapping, police say, and Amoore was arrested.
Previously released video showed a woman, who police identify as Amoore, leaving the mall with the baby. The newly released video shows the minutes leading up to the abduction.
As the video begins, the mother can be seen with a stroller and an older child when a woman, identified as Amoore, walks up to them.
As the video continues, the suspect can be seen walking with the family through the mall. They eventually end up at the food court and sit down together.
In the police affidavit, the mother told police that Amoore asked if she could hold the baby, but she said no.
However, she said the baby soon started to cry. The video shows Amoore getting up, reaching into the stroller, and picking up the baby.
Soon after, the mother can be seen attending to another child as Amoore walks away.
Surveillance cameras capture Amoore walking through the mall, up a flight of stairs, out the door and through the parking lot.
The mother told police she chased after Amoore, but soon lost sight of her.
According to the affidavit, Amoore told police she had a baby a few weeks prior, but the child died.
"I just wanted my baby. It felt like I was holding my son again. It felt so good," Amoore, said, according to the affidavit. "I don't know why I did it.... I held him and all those feelings rushed back."
When the video was shown at the preliminary hearing, Amoore's attorney, Marc Steinberg, was asked if this is an open and closed case.
"It's open and closed as to what happened. What's not closed is why it happened. The case will wind it's way through the court and we'll be able to show evidence as to why it happened," he said.
Amoore is awaiting a formal arraignment later this month. No trial date has been set.