I'm a waitress, and I'll speak for all waitstaff when I say: that waiter is an idiot.
Laws up there may be different, but in Texas if someone runs out on the bill, the restaurant (by law) cannot require the employee to pay for the food. The employee suffers little damage, as they're only out what they may have gotten as a tip. Risking bodily harm for "standing up against what's wrong" doesn't seem like a sensible idea to me. If they're trying to leave and you want to point out that they haven't paid, fine; I would never follow someone into the parking lot or physically prevent them from leaving. Best to write down the license plate and call the police.
On a related note...as soon as I rig up my apron, I'm going to be carrying at work. Now I have an even better reason not to follow dine-and-dashers into the parking lot. Stay outta trouble!