A violent road-rage incident between a driver and a cyclist that unfolded in Sydney's inner west has been caught on camera.

The video, shot by the cyclist, shows the driver of a Toyota Hilux unleashing a tirade of abuse against him.

The altercation, which was sparked by a minor collision between the cyclist and the driver, erupted on Grosvenor Crescent in Summer Hill about 7.50am on Wednesday.

The 45-year-old driver allegedly called the 23-year-old cyclist "Aussie scum" and repeatedly threatened him before allegedly striking him.