Fugitive Vassilis Palaiocostas was one of the two men that evaded arrest during a police in central Greece in February, 2011 that ended with 23 shots being fired at officers from an AK-47 assault rifle.
Police on Wednesday released CCTV footage of the other man that was in the vehicle that day as well as the Audi used by the fugitives.
A magistrate in Livadia issued an arrest warrant for the two men on charges of attempted murder and illegal possession of weapons.
Police did not clarify why it had taken more than two-and-a-half years for the charges to be issued.
Palaiocostas escaped from Korydallos Prison, in the center of Athens, in a helicopter in 2009.