A terrifying kidnapping attempt in Florida was caught on camera — complete with the victim’s blood-curdling screams as she fought to escape!

Surveillance video released by the St. Johns County Sheriff’s Office shows robbery suspect Theodore Michael Tundidor trying to shove a store employee into a pickup truck outside a St. Augustine Smoke Shop last month.

He manages to drag the woman to his truck … but she fights like hell, slips free, and bolts before he can shove her all the way in.

According to investigators, 31-year-old Tundidor allegedly slipped behind the counter of the smoke shop and grabbed about $270 worth of merch, including hemp cigarettes and a vape … the woman tried to block the suspect’s exit, and that’s when he allegedly grabbed her by the neck and dragged her outside.

A nearby Good Samaritan noticed the commotion and rushed over to help, calling 911. The suspect sped off in the truck — which was stolen from a Jacksonville dealership, according to cops.

When Florida Fish and Wildlife officers saw Tunidor driving recklessly shortly afterward … he tried to flee, but was quickly caught.