The former soldier was arrested on Saturday after allegedly spending 75 hours on the run.
Daniel Khalife has appeared in court accused of slipping under a food truck during an escape from Wandsworth prison.
The 21-year-old reportedly broke out on Wednesday.
He was arrested in a London suburb on Saturday.
Police say the arrest ended 75 hours on the run.
Westminster Magistrates’ Court was told Khalife worked in the prison kitchen.
Officers say he left wearing a cook’s uniform.
Prosecutors allege he attached himself to the underside of a food delivery vehicle.
They said he used a material “which may have been from bed sheets” to strap himself in place.
He is now held at Belmarsh, a category A jail.
Khalife appeared in the dock charged with escaping from lawful custody on 6 September.
He arrived at the court building about 9.45am in an armoured police van.
At court he was not asked to enter a plea.
He spoke only to confirm his name and date of birth.
The charge says that while at Wandsworth prison, “being in custody on a criminal charge” he “escaped from the said custody“.
Gul Nawaz Hussain KC made no bail application.
Deputy chief magistrate Tan Ikram remanded him in custody.
His next hearing is listed at the Old Bailey on 29 September.