The footage, shot at the top of Canal Road coming just off Stanningley Road by Nathan Currie and his uncle, shows a caravan car which is accompanying the race slam through the central reservation where a marshal is standing.
The marshal waves a flag as the cyclists whiz round the corner, as the accompanying cars flank the bikes.
But it appears that the car didn't expect the man to be stood there, and the marshal jumps out the way at the last second as the car wipes out a central reservation marker.
The incident happened on the final stage of the Tour de Yorkshire weekend, which stretched from Halifax to Leeds.
Nathan, aged 25, from Armley, said: "We were sat as a family on the grass verge at the side of the road with plenty of other families around.
"It was a brilliant atmosphere and the accident came out of nowhere and was a complete shock to every one.
"The Marshal was fine although very shaken. He was very professional and continued to do his duty after."
Nathan was at the event with his parents, two sisters and nephews and niece when the near miss took place.
He added: "It was a brilliant event and it was great to have it on my doorstep. The whole area was excited to see it and there was a very positive buzz around where we were, even after the accident."
Nathan said on Twitter: "Yeah, this just happened"
No one appears to have been hurt in the mix-up.
Sunshine and cycling
Fortunately, the rest of the day went off without a hitch
Leeds City Council Leader Councillor Judith Blake said:“What an incredible four days it has been for Leeds and for Yorkshire.
"It was excellent to see the people of Leeds turn out in their thousands in the sunshine and give the riders an electric reception when they arrived at the finish line on the Headrow.
“Well done to those who competed and a big thank you to everyone who got involved and helped to make this year’s Tour de Yorkshire finale the best yet."
West Yorkshire Police praised the crowds after the event. Police made no arrests related to the event during the stages in West Yorkshire.
"Hundreds of spectators were on the starting line in the centre of Halifax to see the riders off from the Piece Hall on the final stage of the men's race. Crowds also lined the route as the peloton made its way through Calderdale, Keighley and Leeds, before coming to a finish in the heart of the City of Leeds on the Headrow.
"Assistant Chief Constable Catherine Hankinson of West Yorkshire Police and Gold Commander for Stage 4 of the race said; “The Tour de Yorkshire is a fantastic event, and it gets bigger and better every year. The four days of the race was the result of months of planning, not only by ourselves, but by the other police forces involved, partner agencies and Welcome to Yorkshire.
“We have built on our success and experiences from the Tour de France Grand Depart in 2014 and the Yorkshire races the past three years, and are pleased at how today’s event has gone.
“It has been a magnificent four days, not only for cycling, but for the county as a whole. The spotlight has been on Yorkshire for the past four days and our fantastic county has been showcased to an international audience.
“I would like congratulate all those who have been involved with the planning for this year’s Tour de Yorkshire, and would like to pass on my thanks to our volunteers, Specials and Tourmakers who made this event possible.
“I would also like to offer my thanks to thousands of spectators, who have made today such a special and memorable occasion by joining the celebrations at the start and end of today’s race and lining the race route. We have loved seeing your pictures on social media and will continue to share them in the next few days.
“And at present, we haven’t made one Tour related arrest in West Yorkshire and that’s due in part to the great atmosphere generated across the route.”