Mexican authorities have released a video showing the moment suspect drug cartel gunmen abducted a congressman who was later killed and his body burnt.

Gabriel Gomez Michel, a member of the lower house of congress for the ruling Institutional Revolutionary Party, was kidnapped along with his driver in the south of the city of Guadalajara, Jalisco state, earlier this week.

CCTV footage released by Jalisco prosecutors shows the 49-year-old being violently manhandled from his vehicle to another in broad daylight on a Mexican road.

In the 56-second video, Gomez's car - a dark SUV - is seen travelling on a three-lane street in the suburb of Tlaquepaque, when traffic suddenly stops in front of it.

Two armed men, respectively wearing a read and a blue shirt, get out of a white minivan that pulls beside the congressman's vehicle, blocking it.

The gunmen force the SUV's doors open and shovel a man, believed to be Gomez, out of the car before driving it away.

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A shocked Gomez is left for a few seconds alone on the roadside. Wearing a white shirt, the lawmaker is seen holding his head as he walks in evident distress.

Moments later he is reached by a second vehicle and forced into it by another gangster.

Forensics tests have confirmed that one of two charred bodies later found in a car in the central state of Zacatecas is that of Gomez.

The second victim has been identified as the congressman's driver Heriberto Nunez Ramos.

The killings bore the hallmarks of a drugs cartel murder and authorities said they suspected a criminal gang was responsible.