Officer Kelly Beemer also faces a misdemeanor charge of discharging a weapon.
Video from a squad car camera shows two officers escorting Beemer to the vehicle Wednesday night. Inside, one of them tells Beemer they just want to get her home.
Beemer can be heard saying she doesn't believe them and demands the car be stopped. As the car continues moving, a muffled shot is heard. The car stops and the officers are heard repeatedly yelling "Kelly, put down the gun!"
No one was injured.
Dallas Police Chief David Brown calls Beemer's conduct reckless and unacceptable. Beemer's attorney declined to comment Friday.
