Video footage from a police chase which shows a man pulling a female driver out of her car has been revealed in court.

Patrick McMillan pleaded guilty to 17 charges including armed robbery, assault, assaulting a police officer and carjacking at the Victorian County Court last Tuesday.

After leading police on a chase through Melbourne suburbs, McMillan carried out a frightening carjacking that was captured on CCTV.

(Supplied)

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Pulling a handgun and running towards a red Jaguar in Ivanhoe, McMillan ripped open the door to the car and tried to pull the female driver out of the seat.

The female driver can be seen fighting back, before throwing her keys onto the road.

After picking up the keys, McMillan grabbed the woman by her hair, and hurled her onto the asphalt.

A number of witnesses tried to help but after reversing into another car, the thief drove off, the Jaguar just one on a list of vehicles he stole during his 90 minute police chase.

In the Jaguar, McMillan hit speeds of more than 200 kilometres an hour in emergency lanes.

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In another stolen car, a red Holden, he repeatedly drove on the wrong side of the road, and at one stage straight through train boom gates.

Minutes earlier the court heard he'd held his gun to the head of an off-duty police officer who'd been following him.

Then, after stealing a grey Mercedes, McMillan started driving on footpaths and along tram lines.