He denies the robbery charges.
At a press conference on Wednesday, Zambia’s interior minister said the lawmaker was arrested earlier this week in Harare.
Jack Mwiimbu said the MP had been arrested by Zimbabwean police at the flat he was renting and would remain there pending extradition formalities.
He said the government wanted to know who facilitated the MP’s escape as well as his wife’s visit to Harare.
He thanked the Zimbabwean authorities for their cooperation.
The opposition PF party, led by former president Edgar Lungu, condemned what it called an “emerging and worrying scenario”.
Banda, who has been an independent MP since 2021, was previously linked to Lungu, who lost the presidency to Hakainde Hichileme that year.
PF spokesman Emmanuel Mwamba said what was happening was a “kidnapping”, adding that the government should follow “internationally established extradition protocols”.
“We call on the Zambian government not to join other African countries who are known to go to other jurisdictions and choose a national they want for crimes,” he told the BBC.
The BBC has asked the Zambian government for a response.
In May of this year, Banda was declared missing under unexplained circumstances. A day later, he reappeared, saying that he had been kidnapped.
At least three opposition politicians and a human rights defender were arrested in this case.
Two of those arrested – Edith Nawakwi, leader of the opposition Forum for Development and Democracy party, and human rights activist Brebner Changala – accused the state of being behind the abductions.
However, the Ministry of Internal Affairs denies the involvement of the state in this case.
There was speculation on social media that the abduction was staged, which the Banda family denied.
Banda was later arrested in June this year and accused of stealing property worth 12,000 kva ($430; £340) in 2015.
He faces an additional charge of escape from custody.
But Mr Mwamba told the BBC the allegations were “politically motivated”.
“Hon Jay Jay Banda is one of those members of parliament who are close to the former president who this government relentlessly persecutes.”
He said the case was a decade old and had been tried in court before, adding that the allegations were aimed at preventing him from telling the truth about the abduction.
He said that at the time of his alleged escape, he was hospitalized due to his health condition following his abduction.
