Scott said there were several cars behind him and, worried the animal could be hit, he decided to follow it.
The wallaby then made its way onto the sidewalk and stopped.
He said: "But then I realized it was hopping and that it was a wallaby on the loose."
Scott pulled alongside and said to the escaped marsupial: "Hello, you're not from around here, are you?"
The animal then disappeared down a side road toward the local Co-op.
"It was a bit sad that he was out there on his own, as there can't have been much for it to eat because of the heatwave we've been having," Scott said.
"I just thought, 'Poor thing, he's lost.'"
He reported the sighting to police via 101, although the call handler initially had some trouble comprehending what he was reporting.
"I told her, 'There's a wallaby hopping up the street,' and she replied, 'The Australian animal, like a small kangaroo? Right, OK.'"
A wallaby, hopping down the road in England, they are usually spotted in Australia. (Scot Weller via SWNS)
By Talker
The wallaby has reportedly been sighted elsewhere in Liskeard.
A member of staff at the leisure center is also said to have spotted it at the weekend in the secondary school playing fields.
A Devon and Cornwall Police spokesperson said that the animal had disappeared by the time officers arrived.
They said: "We were called to a report of a wallaby seen on Dean Street, Liskeard, shortly before 6am today, August 24. Officers carried out an area search but did not locate the animal."
Commented