US police say a father made his nine-year-old daughter drive him to a petrol station because he was drunk.

The 39-year-old Detroit man allegedly put his daughter on a booster seat so she could drive his van.

Police say they were caught on camera by CCTV as they pulled into the filling station around 3am.

The man, identified as Shawn Weimer, 39, from Detroit, can be seen at the counter with his daughter.

He allegedly told the clerk that she was driving him around because he had been drinking.

The girl drove a couple miles before police pulled her over. According to police, she was surprised to be stopped.

"She was doing fine," said Brownstown Township Police Detective Lt Robert Grant.

"And, in fact, as heinous as this is, the little girl looks at the police officer and says, 'What did you stop me for? I was driving good.' Incredible. Obviously, the officer told her she was too young to drive."

The father, who told officers he was teaching his daughter to drive, faces charges of felony child abuse and being a habitual offender.