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Horrifying video Tuesday captured every city resident’s worst nightmare — a construction crane suddenly plummeting to the street.

The footage shows the moment the crane of a boom truck collapses on top of an occupied car in The Bronx — miraculously leaving the driver with only minor injuries, according to cops and fire officials.

The truck was next to the site of a building under construction on Bedford Park Boulevard near Villa Avenue in Jerome Park just before 10:40 a.m. when the lifting arm suddenly slammed down onto the front windshield of the car entering the intersection, according to the FDNY and the shocking footage.

The clip then shows multiple people running over to the scene to help.

The driver, a 22-year-old woman, suffered only a hand injury and was taken to St. Barnabas Hospital in stable condition, cops said.

The FDNY said a second person was taken to the same hospital but did not immediately provide information on that person’s condition.

Fire officials evacuated about 29 workers from the site — where an 11-story residential building project is under way — out of precaution pending an evaluation by the city Department of Buildings.

The DOB confirmed Tuesday afternoon that inspectors are on the scene responding to a boom-truck collapse at 33 Bedford Park Blvd.

The boom truck was making a delivery — lifting a load of rebar from a trailer and onto the roof of the construction project — when its lifting arm failed and collapsed into the adjacent roadway, the department said.

The arm landed on top of the boom truck and also onto the car, buildings officials said.

The under-construction building appears undamaged, the FDNY said.

A new complaint was filed on the DOB’s website Tuesday indicating “possible unsafe crane operations” at the site.

Other complaints, also from Tuesday, state that the “site safety manager failed to perform duties as per code,” and that no permits were issued for general electrical wiring, for the standpipe electrical alarm system or for the hoist being installed.

The general contractor for the project is All State 12 General Contracting Corp., the DOB said.

A woman who answered the phone at the company Tuesday afternoon said no one was immediately available to comment.