'Ice Road Truckers' Star Tim Zickuhr -- Charged with Kidnapping Prostitute [MUG SHOT UPDATE]

It's like something out of "Grand Theft Auto" -- one of the drivers from History Channel's "Ice Road Truckers" has been charged with 3 felonies after allegedly kidnapping a Vegas prostitute ... and forcing her to jump out a second story window.

According to official charging docs, Tim Zickuhr has been charged with first degree kidnapping, extortion, and coercion. But the story behind the charges is out of control. Seriously, out of control.

According to the police report, the prostitute -- who goes by Snow White -- told cops Tim hired her to perform services on December 18th. She says he gave her his ATM card to withdraw her payment, but he later accused her of taking too much.

She claims Tim arranged a meeting at his apartment the next day to settle their money dispute -- and he attacked, punching her in the face, and threatening to kill her if she didn't get him the money she'd stolen.

She claims Tim tied her up with backpack straps, continued to beat her, and then poured cold water on her from a mop bucket. She claims Tim then locked her in his closet and demanded a phone number for someone who could get him the money.

Stroke of genius from Snow White -- she gave Tim the phone number of a police officer she knew ... and according to the report, Tim actually called it, claiming he'd kill Snow White if $1,000 wasn't delivered to him.

Tim and the officer arranged a meeting -- but rather than leave his apartment through the front door, Tim allegedly forced Snow White out his second story window.

Long story short, the cop met Tim and immediately arrested him. The officer claims Tim sang like a canary, admitting everything ... placing the phone calls, dousing Snow White in water, locking her in a closet, and pushing her out a window. Just ... crazy.

Tim is due in court in May.

A rep for History channel had no comment -- but told us Tim hasn't been on any "Ice Road" programming since 2011.