The clip shows the gunman, wearing all black, running away after blasting Jeffrey Cisnero Camacho multiple times and swiping $23 from him, according to police.
Camacho, 26, was able to stumble out of his silver Toyota and wave down cops after Saturday attack in Soundview.
Rescuers rushed him to Jacobi Medical Center, where he is expected to survive.
Investigators are hoping someone will recognize the suspect in the video.
The New York State Federation of Taxi Drivers is offering a $1,000 reward for any information that will lead to the gunman.
Anyone with information is asked to call the NYPD’s Crime Stoppers Hotline at (800) 577-TIPS.