Alameda County and its insurance provider agreed to pay $5.5 million to a man who led sheriff’s deputies on a cross-bay car chase to San Francisco’s Mission District, where his pursuers clubbed and punched him in a videotaped alleyway beating, his attorney said Friday.

The settlement closes one chapter of a case that began in November 2015 when 30-year-old Stanislav Petrov allegedly stole a car and rammed two patrol cruisers, igniting a 38-minute chase from San Leandro to San Francisco.

The two deputies in the ensuing beating, Paul Wieber and Luis Santamaria, have been fired and charged by San Francisco prosecutors with crimes including assault with a deadly weapon. They have pleaded not guilty.

The Alameda County Board of Supervisors approved the settlement Tuesday, and the county’s insurers authorized it Friday, said Michael Haddad, Petrov’s attorney. The county is liable for $1 million of the payout.

“We think the settlement is going to hold the deputies accountable for their really egregious actions and send the message to law enforcement that this conduct isn’t tolerable in a civilized society,” Haddad said.

The Nov. 12, 2015, beating gained national attention after San Francisco Public Defender Jeff Adachi released footage of it. The video allegedly shows Wieber and Santamaria knocking Petrov to the ground and punching him and hitting him with batons, even after he appeared to surrender with his hands on his head.

Petrov suffered a concussion, deep head cuts and broken bones in his hands and arms, authorities said.

A third deputy in the incident, Shawn Osborne, was fired but has not been charged. Adachi said the video showed Osborne taking a gold chain from Petrov. A homeless couple who witnessed the episode said Osborne gave them the chain and some money as “hush goodies.”

A spokesman for the district attorney’s office said Friday that Osborne’s case remains under investigation.

Kimberly Veklerov is a San Francisco Chronicle staff writer. Email: kveklerov@sfchronicle.com Twitter: @kveklerov