A woman is shown hitting the Rolls-Royce twice before picking up a trash can and throwing it at the back of one of the convoy cars, smashing its back window.
Two other men wearing dark hooded tops are also seen running along the royal car and hitting it.
The driver was able to get through the crowd without the royal couple being harmed.
Protestors were upset after legislators approved huge tuition hikes. The demonstration turned violent when students hurled sticks and rocks at police in riot gear.
Police said they hoped the video released Tuesday can help them trace witnesses and suspects believed to have broken the law.
Critics have questioned the security measures for royals and how protesters could have gotten so close to the royal car. They have also criticized the choice of vehicle, which had large clear windows and wasn't bullet-proof.
The Associated Press contributed to this report.