Hiedrich was pulled over for talking on a cell phone while driving and for not wearing a seatbelt, Lorenz said.
An argument between the officer and Heidrich intensified, Lorenz said.
"He was in a rush to get to someplace and unfortunately, it escalated," he said.
As the officer tried to handcuff Heidrich, a struggle broke out, during which the officer fell onto the ground, Lorenz said.
As the actor allegedly continued to resist arrest, Lorenz said he tried striking the officer in the face, but missed.
"It escalated to the point where it didn't need to go," Lorenz said.
Hiedrich was eventually taken into custody, and the officer did not sustain injuries, Lorenz added.
Heidrich was released about 9:30 p.m. the same day from the Glendale city jail after posting a $20,000 bond, according to the Los Angeles County Sheriff's Department.
In the FX network show, Hiedrich plays Robert "Bobby" Munson, a member of the Sons of Anarchy Motorcycle Club who's skilled in explosives.
Hiedrich's TV and movie career spans more than two decades, including roles in "Batman Begins" and "Seven," with appearances in "Curb Your Enthusiasm " and "Seinfeld."