Zimmerman was given a verbal warning instead of a ticket after the stop during the weekend, CNN reported. He was pulled over in Forney, a small city about 20 miles east of Dallas.
Zimmerman told the officer he had a gun. The video shows the officer telling him to close the glove compartment.
"Don't play with your firearm, OK?" the officer said before walking back to his patrol car.
Zimmerman's attorneys used Twitter to say they would release no information about where he is staying to protect him. His brother, Robert, sent a tweet saying Zimmerman had a "heavy foot" on the accelerator.
Zimmerman has stayed out of sight since he was acquitted July 13 in Sanford, Fla., of the second-degree murder of Trayvon Martin, an unarmed black teenager. On July 17, he reportedly helped pull members of a family from their burning car in Sanford.