The 18-year-old is due to appear in court charged with assaulting the crew who were trying to help him.
It is understood the man had called for medical assistance himself due to a possible seizure.
It is alleged that he became aggressive inside the ambulance and spat at the two crew members and that he also threatened to cough in their faces after making reference to coronavirus.
Police were called to the scene and he was arrested and forcibly removed from the ambulance.
Following questioning in custody and further police enquiries, the man was charged with two counts of assaulting an emergency worker.
The incident occurred on Broughton Road in Skipton at 7.55pm on Sunday April 12.
The man was released on bail and will appear at Skipton Magistrates’ Court on May 22 at 9.30am.
Detective Superintendent Steve Thomas, Senior Operational Commander for Harrogate and Craven, said: “While I cannot comment on this specific case for legal reasons, it is clearly abhorrent behaviour to assault by spitting or make such threats against any emergency worker.
"This is especially so at a time of national emergency due to the coronavirus pandemic when the risk of infection remains high.
“Anyone suspected of committing such a crime against emergency workers can expect to face prosecution.”