Federal immigration agents have detained a U.S. citizen in Minnesota at gunpoint without a warrant. That's according to ChongLy “Scott” Thao, who says agents forced open his door, entered with guns drawn and led him outside in his underwear in freezing conditions.

Thao, who has been a U.S. citizen for decades, said that as he was being detained he asked his daughter-in-law to find his identification but the agents told him they didn’t want to see it.

Instead, as his 4-year-old grandson watched and cried, Thao was led out in handcuffs wearing only sandals and underwear with just a blanket wrapped around his shoulders.

Videos captured the scene, which included people blowing whistles and horns and neighbors screaming at the more than a dozen gun-toting agents to leave Thao’s family alone.

Thao said agents drove him “to the middle of nowhere” and made him get out of the car in the frigid weather so they could photograph him. He said he feared they would beat him. He was asked for his ID, which agents earlier prevented him from retrieving.

Agents eventually realized that he was a U.S. citizen with no criminal record, Thao said, and an hour or two later, they brought him back to his house. There they made him show his ID and then left without apologizing for detaining him or breaking his door, Thao said.