He has yet to be formally charged by prosecutors, Huff said, and is due in court October 31.
When asked by officers why he hit the horse, Schumacher said that he was swatting a fly on its head, Huff said. Witnesses had told police that the horse was rearing up in traffic.
Schumacher's horse, named Dillon, and his dog were sheltered overnight by the Humane Society of Boulder Valley. The pistol was held as evidence.
Schumacher was released from custody late Monday night and was reunited with Dillon and Bufford on Tuesday morning, Huff said.
Shortly thereafter, he rode off on the horse, with Bufford in his backpack, telling officers that he was again en route to his brother's wedding in Bryce, Utah, Huff said.
Schumacher told police that he'd lost his driver's license, so he decided to make the trip to his brother's wedding on horseback, Huff said.
"We took him at his word," Huff said.