The 11-month-old girl, Justice Alasheia Benton, was allegedly abducted by her father, Joshua Elijah Benton, CHP officials said.
Antioch police said they received a report at 10:19 a.m. of shots fired in the area of Rainier and Sunset lanes, off of Davison Drive.
Arriving officers learned that Joshua Benton had allegedly taken his daughter during a domestic dispute, according to police.
Police said that as Benton was leaving, he fired one shot into the air from a handgun and got into the passenger side of a dark green Dodge Caravan-type vehicle with tinted windows.
A second person was believed to be driving the car. A license plate number was not immediately available.
CHP spokeswoman Sgt. Diana McDermott said at about 2 p.m. that the baby has been recovered.
The father was later arrested and is in jail.