It happened around 7 p.m. on the 5 Freeway in Burbank near Alameda Street.
The sheriff's department said deputies were transporting the inmate when he suddenly kicked through the window.
A fight broke out on the freeway as deputies worked to get him back inside, backing up traffic for hours.
The suspect, who wasn't identified, was ultimately placed back into custody and into a patrol vehicle. Two deputies were checked out for injuries.