Scott Dearing drove into Michelle Carr at the Jet petrol station in Park Road, Barnsley, on 4 December - throwing her over the bonnet before driving off.
Dearing, 30, of no fixed abode, pleaded guilty at Sheffield Crown Court to assault, dangerous driving and theft in relation to the incident.
He will be sentenced on 7 February.
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Dearing also admitted two counts of theft of a number plate, a second count of stealing fuel and two charges of driving whilst disqualified.
Following the hearing Miss Carr, 46, said: "Luckily I just got a few bruises. I came off quite lightly. It was more mental really, the shock of it.
"Because I put my hands out I went straight over the bonnet.
"I try not to think what could have happened.
"In my wildest dreams I never thought anybody would do that."
Dearing's passenger, 28-year-old Charlene Beadman, of Jennings Close, Rotherham, admitted one count of theft relating to the incident at the Jet Petrol station.
Both denied a charge of robbery.
Beadman is due to be sentenced on 14 February.
A man has pleaded guilty to a injuring a petrol station attendant in a hit-and-run as he attempted to drive away after stealing fuel.