The 42-year-old was arrested after an armed siege in Spalton Road, Parkgate, last night.
Armed officers surrounded a house and urged a man inside to come out of the property with his hands in the air.
They warned him that they would open fire if there was any threat to life.
The incident was streamed live on Facebook by a resident in the street.
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The video has been shared over 43,000 times.
A South Yorkshire Police spokeswoman said: "Officers attended a property on Spalton Road in the Parkgate area of Rotherham at around 7pm last night following reports a woman was injured and being held against her will at the address.
"Police negotiators were also in attendance and the 42-year-old woman exited the property at approximately 8.30pm with injuries to her hands.
"A 42-year-old man was arrested shortly before 9pm on suspicion of assault and false imprisonment and is currently in police custody."