The incident, captured on a police dash camera, showed one officer smashing the window of a minivan and a second officer shooting at the vehicle as it sped away, NBC News reported Monday.
On the video, two officers pull over the van for speeding on Oct. 28 near the city of Taos. An officer is seen approaching the vehicle and asking the driver, Oriana Ferrell, 39, to wait. Instead she drives away.
When the officers pull her over a second time, an officer ordered her out of the vehicle. A 14-year-old got out of the van and rushed an officer and, after a brief scuffle, ran back into the vehicle.
An officer used a baton to smash a passenger-side window. Another officer fired at the vehicle as it drove away.
Ferrell was arrested at a hotel charged with intentional abuse of a child. She later was also charged with possession of drug paraphernalia after two apparent marijuana pipes were found in the van.
The 14-year-old was charged with battery.
The other four children, ages 6 to 18, were released to family members, police said.
New Mexico State Police Chief Pete Kassetas said he had reviewed the video and had "concerns relating to the conduct of the officer who discharged his firearm."