A driver who allegedly attacked a cyclist in an ugly road rage dispute in Sydney's inner west has been charged with assault and negligent driving.

Merrylands builder Milad Ayoub was caught on camera allegedly threatening a cyclist after a minor collision on Grosvenor Crescent in Summer Hill just before 8am on Wednesday.

The 23-year-old cyclist, who suffered an injury to his arm, filmed the alleged altercation on his mobile phone, with the footage widely shared on Thursday.

Mr Ayoub, 44, was taken to Burwood police station on Thursday afternoon where he was charged with negligent driving, common assault and stalk or intimidate with intent to cause fear of physical harm.