The 32-year-old, who is a U.S. citizen, was released after two days in custody.
He was detained last Tuesday for allegedly throwing rocks at agents. He says agents then drove off in his car, with his 1-year-old daughter in the backseat.
"There's a baby in the back! Yeah, bro, and the guy was doing absolutely nothing, bro," a witness said, taking a cellphone video of the incident. The child can be seen in the backseat in the video, with two masked federal agents in the front.
The baby was released to her family. Her grandmother says she had a bruised cheek, but is otherwise OK.
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1-year-old, parents allegedly pepper-sprayed by feds near Chicago