Juan Peralta was stopped by Glendale police after he allegedly hit a Volkswagen and didn't pull over.
The 31-year-old told officers he was trying to rush his daughters, ages 1 and 4, to the hospital. The girls' mother was also in the car and wasn't wearing a seatbelt.
Police say Peralta had alcohol on his breath when he told officers he fled the scene of the crash because he doesn't have a driver's license.
Peralta is in custody on $100,000 bail. He has been ordered by the court to stay away from his daughters and not to drive minors until further notice. He is due in court later in May.
The Associated Press contributed to this report.