Hivo Gonzalez, 32, has been charged with second degree murder for the brutal attack of Pedro Cruz in June.
The shocking footage shows Gonzalez getting into an argument with Cruz, after he had filled his pick-up truck with fuel.
He had asked the man for money and the pair began arguing when Gonzalez refused.
As the homeless man stood to the side of the vehicle, shouting at the two men, the model allegedly reached fort he small bat from the front seat of the car and chased him with it.
He allegedly stuck Cruz twice in the head, the second knocking him to the floor of the petrol station.
Gonzalez and his friend quickly retreat back to the truck and make a get away, it is claimed.
He was later charged and argued that he "feared for his life" and thought that Cruz would attack him if he did not move first.
The 49-year-old who had been sleeping rough died a few days later in a Miami hospital.
The Miami Herald revealed the shocking footage of the incident and published it on Friday.
Gonzalez's defense lawyer Scott Fingerhut said he believed it was a life or death situation and hadn't realised Cruz had been seriously wounded.
He said: "This is a really good-natured guy, who believed he was put into a life-or-death situation.
He now faces a minimum of 10 years behind bars if convicted.
Cruz was known to the authorities for being an aggressive beggar and has been arrested over a dozen times for cocaine possession and trespassing.
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