The crash happened last Tuesday afternoon on the northbound I-17 off-ramp at Utopia Road.
Phoenix police say both the motorcycle officer and the Tesla came to a stop for a red light, then the Tesla moved forward and struck the police motorcycle.
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The officer was able to hop off the motorcycle prior to impact. There were no damages or injuries.
The Tesla driver claimed the auto-drive function was engaged, however, the investigating officer has no way to prove or disprove this, according to Phoenix police.
Tesla's autopilot system is described as several driver-assistance features, which involve more driver control than so-called self-driving vehicles.
Tesla's spokeswoman said the company has not heard from the driver or the police about the incident.