Police have released body and car-cam footage of Tiger Woods appearing to fall asleep in the back of a police cruiser after failing a roadside DUI test following a car crash in Florida.

The five-time Masters winner seemed shocked after officers informed him he was being arrested and placed him in handcuffs near his Land Rover that was sitting on its side after clipping a truck.

“I do believe your normal faculties are impaired, and you’re under an unknown substance, so at this time you’re under arrest for DUI,” Martin County Sheriff’s Deputy Tatiana Levenar told Woods.

The arrest followed a sobriety test, with vision showing Woods being asked to perform tasks with his eyes closed in front of police, and also a body search, which saw officers remove two pills from his pocket.

“I’m being arrested?” Woods asked the police soon after the test.

“Yes, sir,” Mr Levenar said.

“That’s a Norco,” Woods said after an officer pulled out the pills, referring to a painkiller that contains acetaminophen and the opioid hydrocodone.

Authorities later confirmed that Woods was in possession of hydrocodone, AAP reports.

In the bodycam footage, Woods told Mr Levenar that he had not drunk any alcohol and that he had taken “a few” medications earlier in the day.

Woods said he was looking at his phone and changing the radio station when his speeding SUV hit the back of a truck and rolled on Jupiter Island. No-one was injured in the crash.

“I looked down at my phone, and all of a sudden — boom,” Woods told deputies.

Woods explained he had undergone seven back surgeries and over 20 surgeries on his right leg, and that his ankle seizes up while walking.

Prior to his arrest Woods was asked to head back toward the scene and after ending a call told police he was on the phone to “the president”.

The 15-time major winner was hiccuping during questioning and continuously moving his head during one of the sobriety tests, with deputies telling him several times to keep his head straight, the arrest report said.

“Based on my observations of Woods, how he performed the exercises and based on my training, knowledge, and experience, I believed that Woods’ normal faculties were impaired, and he was unable to safely operate the motor vehicle,” Mr Levenar wrote.

Following the crash, Woods agreed to a breathalyser test that showed no signs of alcohol, but he refused a urine test, authorities said. He was arrested and released on bail eight hours later.

Under a change to Florida law last year, refusing an officer’s request to take a breath, blood, or urine test became a misdemeanour, even for a first offence.

Woods, 50, pleaded not guilty on Tuesday to suspicion of driving under the influence. He posted a statement via social media on Tuesday night saying that he was stepping out of the public eye indefinitely.

“I know and understand the serious of the situation I find myself in today,” the statement said.

“I am stepping away for a period of time to seek treatment and focus on my health. This is necessary for me to prioritise my well-being and work toward lasting recovery.

“I’m committed to taking the time needed to return in a healthier, stronger and more focused place both personally and professionally.

“I appreciate your understanding and support, and ask for privacy for my family, loved ones and myself at the time,” the statement concluded.

The announcement came hours after the world sporting superstar pleaded not guilty to the DUI charge and requested the matter be taken to a jury trial.