Wild fugitive points a gun at a police HELICOPTER during a dramatic chase in Perth

Dramatic footage shows a fugitive leader from authorities on a chase through Perth's semi-rural outskirts before getting out and pointing a gun at the police helicopter.

Desmond Lee Kirk, 36, allegedly used a “long arm” gun to shoot at police while driving a stolen Mazda BT-50 on Thursday afternoon.

The footage shows Kirk, who is believed to have connections to a WA cycling club, leaving the car before getting behind the wheel of a large Isuzu truck and continuing to lead police on a car chase, reports WA Today.

At one point the driver is seen getting out of the vehicle and pointing the gun at the helicopter, with police claiming shots were fired.

Police allege Desmond Kirk (pictured) was behind the wheel of the SUV and truck as he led officers on a wild chase through Perth's semi-rural southern suburbs

Police ended the chase when they performed a pit maneuver to run the truck off the road.

WA Police Commander Gordon Fairman said the footage gave the public “a front row seat to a critical incident”.

“It is one of the most dynamic and critical incidents I have seen and the quality of the footage is excellent,” he said.

The footage shows the driver pointing a 'long arm' gun at a police helicopter during the chase

Kirk was charged with 17 offenses, including theft, breaching a restraining order and three counts of stealing a motor vehicle.

He was briefly treated for minor injuries at Royal Perth Hospital.

He appeared at the Armadale Magistrates Court on Friday and the police investigation into the matter is ongoing.