Jatinder Singh was being brought back from Phillaur after a court hearing there when he escaped from custody, they said.
He was involved in 22 cases including sensational robberies of Rs 40 lakh of Bon Bread and Rs 19 lakh at Kitty bread company, police said.
He was also allegedly involved in the terrorist activities in 1990s, they said.
According to a fresh FIR lodged against him, Singh was accompanied by two policemen. As soon as they came out of an auto rickshaw, a white colour car appeared there and on seeing the vehicle Jatinder Singh tried to break his handcuffs, which were tied with one of the policemen Sanjeev Kumar.
Police said that earlier Singh had been arrested by the Tarn Tarn police in February 2012.