The Toyota Prado was taken yesterday at about 2 pm from Duranbah Beach, near Tweed Heads.
Police say the keys of the vehicle were taken from a surf lock that was cut open.
Footage of the brazen theft showed the thief speeding off on Coral Street, Tweed Heads, narrowly missing beachgoers.
The white Prado mounted a public footpath forcing stunned onlookers to jump out of the way as the thief made his escape.
One pedestrian pushing a pram was forced to quickly turn off the footpath down to the sands as the vehicle sped by him.
Police later recovered the SUV yesterday at a shopping centre about a five-minute drive away.
They were helped by tracking signals from the owner’s mobile phone left in the vehicle.
Police investigations are continuing today.
Anyone with information should call Crime Stoppers on 1800 333 000.
