Shocking footage has captured the broad-daylight shootout between an armed robber and a squad of Baltimore County cops that ended with the criminal shot dead.

The recording shows the man - who has not yet been identified - unloading a pair of twin handguns on police, who return fire as civilians cower behind vehicles.

Witness Steve Outlaw, who uploaded the video to Facebook, said he had been on the bus before the robber got on board and police ordered everyone off - which was when violence erupted.

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A gunfight erupted on Wednesday when an unidentified robber tried to escape on a Baltimore County bus, and fired at cops who tried to stop him. Police then surrounded the vehicle

The criminal had robbed two people in the Logan Village Shopping Center at 2.49pm before trying to flee on the No. 10 MTA bus, police told the Baltimore Sun.

When police stopped the bus on Dundalk Avenue at around 3pm - just as schools in the area were closing - the man opened fire on them.

Outlaw's footage, mostly shot while he appeared to be lying on the ground, shows the suspect leaning out of the front and rear doors on the bus, firing in both directions.

Bystanders in the heavily populated area are heard screaming as cops return fire, punching holes in the windows.

The criminal then sprints from the rear doors, firing in both directions with his handguns - which appear to have extended clips - and hiding behind a white van.

The same white van that two other people are hiding behind.

The man then fled the bus, which had been emptied of passengers, while firing to either side (left). He then hid behind a white van (right) and continued the shoot-out

Two other people were hiding behind the van - a woman who ran off quickly (right) and a person hidden behind the wheel arch of the vehicle (center)

One of them runs off and another lies on the ground near the van's rear wheel arch while the criminal fires shots on both side of the van.

Outlaw flees as more gunshots erupt. Minutes later, police said, the criminal was shot dead.

The shooting also left one police officer in critical condition and a civilian, who had been on the street, injured.

Neither victim has yet been identified. The officer, a woman, was taken to Maryland Shock Trauma Center, while the civilian was taken to a local hospital.

The criminal died on the lawn of Dave Barrett, who was watching TV when the shots rang out.

'I heard boom-boom-boom-boom-boom,' he said. 'You never want to hear that. By the time I came down, you could still see the smoke in the air from all the gunshots.'