Crystal-clear new footage shows the moments leading up to the killing of Renee Nicole Good, filmed by the Immigration and Customs Enforcement (ICE) agent who shot her.

Good, 37, could be seen smiling at Jonathan 'Jon' Ross while sitting in her Honda Pilot on Wednesday afternoon and saying, 'That's fine dude. I'm not mad at you,' in a video shot by the officer that was obtained by Minnesota outlet Alpha News.

Her wife, Rebecca Good, 40, could be heard urging the agent to 'show his face' as she asks him, 'You want to come at us?'

'You want to come at us? I say go get yourself some lunch big boy,' Rebecca said, with her own cellphone in hand. 'Go ahead.'

As the tension mounted on the Minneapolis street, Good was told to get out of the car but ignored the order.

She began revving the engine and drove off during what the Trump administration says was part of a protest against the planned detention of Somali migrants in the area.

Rebecca can be heard shouting 'drive baby, drive' as Ross's camera jerked. It is unclear if he was struck by the car or jumped to get out of its way.

Ross fired three shots, including one through the front windshield of the Honda, which struck and killed Good. An agent is heard calling Good a 'f***ing b***h' as shots rang out.

Moments later, her car crashed into the back of two vehicles parked nearby. The shocking chain of events quickly divided the United States.

The footage allegedly recorded by ICE agent Jonathan 'Jon' Ross shows how Renee Nicole Good (seen in her car) and her wife apparently taunted ICE agents before the fatal shooting

Her wife, Rebecca Good, 40, can be heard urging Ross to 'show his face' as she asks him 'you want to come at us?'

Ross shot Good six months after he was dragged 100 yards by a car in a separate incident

Ross's cellphone footage was unveiled just hours after surveillance footage was released, showing how Good apparently blocked the road with her SUV for four minutes before she was shot dead.

The video shows how about 20 seconds after the mother of three's maroon Honda Pilot pulled up to the street, a passenger - believed to be her wife Rebecca Good - exited the vehicle and eventually began filming. 

Good then repositioned the SUV, seemingly blocking the street. The grainy video, however, shows that other cars were still able to pass around her.

Ross then arrived on the scene and was quickly joined by other federal agents who surrounded Good's vehicle.

A federal agent began to grab at her door, allegedly ordering her to get out of the SUV. Good seemingly pulled the car forward and Ross fired three shots at her in quick succession, before she drove off.