CCTV captured the "traumatic and dangerous" incident after police were called to a disturbance at the historic Todd Tavern in the heart of Alice Springs about 10.30pm on Wednesday.
The shocking footage released by police on Thursday shows officers parking a vehicle when a blue ute suddenly appears.
An officer can be seen pulling his service weapon as the vehicle bears down on the patrol car and firing three shots.
The ute then ploughs into the patrol car that had one officer inside, police said.
The bullets peppered the ute but police said no one was injured in the potentially life-threatening attack.
"Let me be clear: driving a vehicle at police is extremely serious and a dangerous act, and our officers are entitled to protect themselves and others when faced with an immediate threat," Northern Territory Police Commissioner Martin Dole said.
"The deliberate targeting of our hard-working officers is absolutely abhorrent, and we will not stand for it.
"Every time our officers attend an incident, they are putting their lives at risk to keep the community safe."
The alleged offender - a 38-year-old man - was taken to hospital as a precaution, while the officer in the police vehicle was treated for minor injuries.
Assistant Commissioner Travis Wurst said the matter was "declared a serious custody incident" and said the officers involved were lucky to escape with minor injuries.
"Once the adrenalin dies down and the investigation moves forward, those officers are stuck with that in their minds forever, knowing what could have been," he said.
"If the police officer didn't take the action he took and he was struck by that vehicle, I'm quite certain - having now seen some of the evidence that's available - that he would have been seriously injured, if not killed."
Police said the accused driver allegedly assaulted police paramedics and medical staff while undergoing treatment before being sedated.
The man was released to police custody and later charged with 10 offences including two counts of recklessly endangering life.
He is set to appear in Alice Springs Local Court on Friday.
A crime scene has been established at the scene of the incident and investigations are under way, with oversight from the Professional Standards Command, police said.
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