Peck, 33, who is also known as rapper 2Pec, stole a 6-pack of beer from a nearby restaurant before he dived into the ocean, police said.
Lifeguards towed police on personal watercraft to catch up to Peck, who refused to get out of the water on his own, they said.
"Police were then forced to enter the water and apprehend the man, bringing him back to shore without incident," Queensland Police said in a statement.
Peck was arrested and charged with stealing and two counts of seriously assaulting a police officer. He was released on bail.
Peck was critical of the restaurant on Monday.
"(The restaurant) should be apologizing to me for the shell in the oyster shot, the overpriced food and the lobster was overcooked," he told the Brisbane Times.
The restaurant said it prides itself on perfectly cooking lobsters.
Aspiring rapper who did a runner believes Gold Coast seafood restaurant should apologise to himhttps://t.co/JPAIoQrCYq
— Brisbane Times (@brisbanetimes) April 10, 2017
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