According to local media reports (Wednesday local time), Bishop Gonzalo Alonso Calzada Guerrero from the diocese of Tehuacan was forced to stop his car at gunpoint by six unidentified men.
They then stole the new vehicle, the mobile phone and other personal valuables. They left the clergyman handcuffed by the roadside.
The bishop did not suffer any physical injuries.
Attacks against church representatives occur time and again in Mexico.
According to the Catholic Media Centre, which documents the violence, Mexico is the most dangerous country in the world for clergy.
During the term of office of President Andre Manuel Lopez Obrador alone, nine clergymen have been murdered since 2018.
A drug war is raging in the country in which more than 170,000 people have died in the past six years.