A Jamaica Plain resident who allegedly assaulted a Cambridge police officer and a private security guard Monday before he drove away in the officer's unmarked patrol automobile pleaded innocent during his arraignment at Cambridge District Court yesterday.

David Maxwell, 25, was arraigned on several counts of assault and battery on a police officer, unarmed robbery, assault and battery with a dangerous weapon and larceny, Cambridge Police Department spokesperson Frank T. Pasquarello said yesterday.

Accompanied by his attorney, Maxwell turned himself in to police at 9 a.m. yesterday, after a warrant was issued for his arrest, Pasquarello said.

Suspected of Shoplifting

According to Pasquarello, Maxwell was being pursued Monday at the Cambridgeside Galleria by a mall security guard who suspected him of shoplifting.

The guard, Greg Dawe, flagged down a passing police officer and the two attempted to apprehend Maxwell.

The suspect allegedly shoved the officer, 44-year-old Detective Aurelio Ferriera, out of the way and drove off in his patrol car, Pasquarello said.

Ferriera and Dawe, who were both injured as Maxwell drove away, were taken to Massachusetts General Hospital and have since been released, hospital officials said.

Ferriera, who suffered injuries to his neck, leg and shoulders, remained in the hospital until yesterday.

Car Found Abandoned

The police cruiser, a gray, 1988 Ford Crown Victoria which contained no weapons, was found abandoned on Huntington Avenue in Boston on Monday at 9 p.m.

Maxwell was ordered held on $4000 bail pending a pretrial hearing on October 29.

This story was written with Associated Press wire dispatches.