Police say Hilliard entered Danny's Deli at 3263 Telegraph Rd. at 9 a.m. Tuesday and requested change from an employee. As the employee opened the cash drawer, Hilliard reached across the counter and removed and undetermined amount of cash, police said.
Hilliard fled the scene on foot and ran to awaiting vehicle.
Witnesses followed Hilliard and were able to direct responding officers to his exact whereabouts.
Officers located Hilliard near Main Street and Mills Road where they attempted to stop him.
Police said Hilliard fled the area at high speed but later lost control of his vehicle. He then attempted to flee on foot.
Hilliard was caught a short distance from his vehicle and resisted arrest, police said.
Investigators say Hilliard was taken into custody after a brief struggle. He was booked into Ventura County jail.