The driver refused but did take the couple to a Homewood Suites motel, WOI reported. At that point, Kilmer allegedly hit the driver twice, KCCI reported.
"If I were in that position, I would have been scared," Sgt. Dan Wade of the West Des Moines Police Department told the television station.
Police used surveillance video from the motel to post stills on social media.
"That was huge, so this was a pretty unique scenario where we had a really high-quality picture," Wade told KCCI. "It was a good picture, which we don't always get."
Kilmer turned himself in within two hours, the television station reported. He has since been released from the Dallas County Jail.