Police have caught a man juggling fire while riding a unicycle on a pedestrian crossing.

Footage shows the unicyclist performing on the pedestrian crossing at the intersection between US-85 and East 60th Avenue in Commerce City, Colorado.

The man, wearing a red hat, blue trousers and a colourful jacket, can be seen driving forwards and backwards on the crossing, entertaining motorists waiting for the traffic light to turn green.

He expertly balances on the unicycle, even lifting a leg at one point to balance on just one pedal, all while juggling three torches, before hopping off his vehicle and running out of the way of the waiting cars.

"Our drone caught his act, which was both quite good and quite illegal," the Commerce City Police Department wrote in a social media post.

The force said the performance violated several laws, including trespassing and impeding traffic by failing to vacate the crossing in time.

"Let's all take a moment to appreciate this man's talents, then all agree that we aren't going to do stuff like this," officers warned in the post.

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Commerce City police said the busy intersection was often a target for enforcement action to ensure that pedestrians selling items and services weren't interfering with motorists, but that this was the first time they received a call about a fire-juggling unicyclist.