BRENTWOOD — A Salem man who kicked out the window of a police cruiser and fled on foot down Route 125 in Kingston while being brought to the county jail was sentenced to three to six years in state prison.

Alfred Figueroa, 35, pleaded guilty on Thursday to felony escape, criminal mischief and three counts of simple assault on a law enforcement officer in connection with his Oct. 12 arrest.

Figueroa apologized in Rockingham County Superior Court during his hearing before Judge Marguerite Wageling.

“I don’t want to prolong the situation,” he said, when asked by Wageling why he was pleading guilty.

Prosecutors on Thursday described how Figueroa, who said he was high on PCP and heroin at the time, fought with Salem Police Detective Eric Dugas while being taken into custody at his home at 121 Cluff Cross Road.

Figueroa struck Dugas in the face during the struggle, according to Assistant County Attorney Brad Bolton.

Another officer struck Figueroa with a Taser several times before he was taken into custody, Bolton said.

Once put in a police cruiser, “he repeatedly apologized and said he had drug and alcohol problems,” Bolton said.

But that didn’t end his combativeness.

Figueroa screamed and yelled during his ride to the county jail, got on his back and kicked at the car door while in the back seat.

“A half of a mile from the courthouse, he kicked out the right rear window and caused it to shatter,” Bolton said. “He climbed out the window while (the cruiser was) still moving.”

Officer Ryan Samabatro called for backup and went after him, striking Figueroa with a Taser.

“He was able to take him down with a trip technique,” which landed the men in a muddy ditch on the side of the road, Bolton said.

By then Kingston police and rescue crews arrived. Figueroa was transported to Exeter Hospital.

Wageling ordered Figueroa to undergo drug and alcohol counseling while in prison and to repay the town for the damage to the police cruiser.

Legal troubles may not be ending for Figueroa anytime soon. The state of Connecticut placed a detainer on him for absconding from a drug-related case from 2010, Bolton said.