Boynton Beach police officer has been arrested after he allegedly raped a 20-year-old woman at gunpoint while he was on duty, police said.

Officer Stephen J. Maiorino, an eight-year veteran of the department who was in an episode of the TV show “Cops” in 2010, turned himself in to the Palm Beach County Jail on Thursday. He is now on unpaid administrative leave and “will be fired,” Police Chief Jeffrey Katz said.

Maiorino, 35, was charged with armed sexual battery, armed kidnapping and unlawful compensation or reward for official behavior, according to a statement from Boynton Beach Police.

The alleged incident happened Oct. 15. The woman had been left stranded in Boynton after the driver of a car she was riding in was arrested on a DUI charge. The driver’s car was towed.

Once at the department, she tried to get out of the car, but Maiorino grabbed her by the wrist and demanded she perform oral sex on him, she told investigators. He told that if she didn’t comply, she would face a DUI arrest herself, the affidavit said.

She told investigators she complied out of fear. But it didn’t end there, according to the affidavit.

Maiorino then drove her a short distance from the department building. There, she was forced to strip down and was held face down on the hood of a police-marked vehicle, the affidavit said. His right hand held her down during the sexual assault, the report said.

She told investigators she could see the gun in his left hand. Later, when the woman got dressed, Maiorino pointed a gun at her and told her he would kill her and her family if she told anyone, the police report said.

Six hours later, she made the complaint.

The next morning, the woman took investigators to the crime scene, where they found a condom wrapper and a condom, police said. Preliminary results Monday found that the woman’s DNA was on the condom, as well as on the condom wrapper and on his underwear.

At 6:36 p.m., he called out over his police radio that he was taking the woman to the police station. At 7:30 p.m., he dropped her off at the station, police said. The police report noted that 54 minutes had lapsed, even though the location where he initially picked up the woman was only 20 city blocks from the station.

Maiorino, who according to court records is married, declined to speak to investigators in the case. However, he did consent to a DNA oral swab and to handing over his clothes for the investigation, a police report said.

“This is a dark day in the history of our department,” the chief said.

His personnel file, which the city provided to the media, shows he has received numerous commendations, including “Officer of the Month” in March 2010. But problems with his performance started appearing routinely in 2011, the records show.