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The Texas Department of Criminal Justice said 39-year-old Jesus Villarreal was arrested in Calallen, near Corpus Christi, about four hours southwest of Houston.
The TDCJ said a woman was also arrested for hindering apprehension.
Before his capture, Villarreal was seen leaving a convenience store near the prison in a maroon Chevy Malibu with Texas license plate BK7P566.
He was captured several hours after going missing, but authorities are unclear on how he escaped.
According to records, Villarreal is serving a 63-year sentence for aggravated robbery, aggravated assault, and possession of a deadly weapon in a penal institute.
He is now facing felony escape charges as well.