Authorities said the 48-year-old was arrested by Douglas County sheriff's deputies at about 7 a.m. Monday on Interstate 25 near Castle Rock, about 25 miles south of Denver.
Douglas County officials said their dispatch center received several calls from drivers concerned about a marked Colorado State Patrol vehicle driving erratically.
Helicopter video from CBS affiliate KCNC showed deputies bringing Nolan out of the driver's seat of the patrol car. He had his hands behind his back while walking over to the deputy's cruiser and once he got there he was handcuffed and placed in the back seat.
Sheriff's spokeswoman Cocha Heyden says Nolan is being booked on charges of driving under the influence and prohibited use of weapons.
Heyden says Nolan was arrested after several people reported a State Patrol car driving erratically.