In the footage two men can be seen running from the South Ockendon shop yesterday, just seconds before one of them falls beneath the wheels of the vehicle.
Cops have said enquiries are continuing into a reported theft from the Tesco Express shortly before the collision on North Road, South Ockendon.
The pedestrian, thought to be in his 30s, sustained serious leg injuries in the horror incident, police said.
It's claimed the man running from the store had allegedly stolen items and was being pursued by a staff member when the horror incident occurred.
The video of the incident, which has been shared widely across social media, shows two men sprinting away from the Tesco Express before one of the men trips, falling in front of the lorry as it drives away.
In a statement, a spokesperson for Essex Police said: "We were called at 3.40pm on Thursday, January 10, with reports of a collision between a lorry and a pedestrian in North Road, South Ockendon.
"The pedestrian, a man aged in his 30s, was taken to hospital with a serious leg injury.
"A 39-year-old man from South Ockendon was arrested at the scene on suspicion of driving under the influence and he has been released under investigation."
"We received reports of theft from Tesco Express, in North Road, South Ockendon, shortly before the collision. Enquiries are ongoing," they added.
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