This terrifying footage shows how a man clinging to a moving lorry slipped and fell under its wheels before narrowly escaping being crushed.

The incident took place in the city of Rio do Sul in the province of Santa Catarina, Brazil, in the Vale do Itajai region on Thursday, 8th May.

The footage shows the man clinging to the rear of a cargo vehicle as it rolls along the street.

As the lorry turns, he suddenly loses his grip and slips, crashing down onto the tarmac.

For a split second, he disappears beneath the back of the vehicle as its rear wheels pass just inches from his body.

Somehow, he manages to roll out from under the lorry unscathed and leaps to his feet.

Local reports did not identify the man or explain why he had been hanging from the lorry.

Authorities are investigating the incident, which took place on a public road in the central part of the city.

(MJ Leidig/newsX)