Robert Taylor, 51, faces charges including aggravated motor vehicle theft, driving under the influence and revocation of parole.
Just after 3 a.m., the ambulance was taken from the 1900 block of Corey Street and was seen heading west on 19th Avenue approaching Main Street.
Taylor stopped the vehicle after driving six blocks. During his arrest he told officers that he was cold.
Police say Taylor was unsteady on his feet, had bloodshot eyes and slurred speech. He also failed a field sobriety test.
A background check revealed he had a felony warrant for escaping out of the Colorado Department of Corrections.
He was also listed as a missing person out of Fort Collins.
Taylor was taken to the Boulder County Jail.
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