A chaotic Bronx car-stop ended Thursday with the driver shot dead by an NYPD sergeant as the suspect tried to peel off, according to police sources and witnesses.

Cops spotted the motorist — identified by police sources as Samy Feliz, 29 — driving without a seat belt near Bainbridge Avenue and East 211th Street at about 3 p.m. and pulled him over, officials told reporters.

When a sergeant and two officers ran Feliz’s name, they found that he had three open warrants for minor infractions, and ordered him out of the car, according to cops.

“The police were screaming to the driver to get out of the car,” said witness Raymond Rodriguez.

Feliz briefly complied, but then climbed back into the car, setting off a fierce struggle that included the sergeant’s attempts to stun him with a Taser.

“While it appeared to be a successful deployment, it failed to end the struggle,” said Chief of Department Terence Monahan of the Taser deployment.

Feliz then tried to drive off with the cops standing dangerously close.

Added Monahan, “While in reverse, the officer released his grip on the male and had to jump out of the way to avoid getting hit by the vehicle.”

The sergeant, who wasn’t identified by name, fired a single round, fatally striking Feliz in the chest, Monahan said. A subsequent search of the body yielded “a substantial amount” of drugs, including apparent cocaine and heroin, Monahan added.

Feliz’s ­unharmed passenger was detained.

Thursday’s incident follows two other NYPD-involved shootings this week.

Bloods gangbanger Nasheem “Trigger” Prioleau, 30, was shot dead by cops at Brooklyn’s Gowanus Houses Tuesday night after he fired at a rival — and then at responding officers, authorities have said.

Hours later, Bronx cops wounded a gun-wielding man in a subway station, ­according to officials.

Additional reporting by Aaron Feis