Copa Airlines said in a statement that emergency exits over wings are meant to be opened by passengers at lower altitudes to allow evacuations in emergencies.
Officials say the 17-year-old boy opened up the overwing emergency exit door, exited the aircraft and started running up the tarmac.
The flight continued to taxi to its gate and all the other passengers were offloaded there. He said people were yelling to alert the flight attendants after the teen left the plane, which was still taxiing to the arrival gate.
A passenger has opened an aeroplane door and jumped out prior to the plane arriving at the terminal in San Francisco.
According to SFO, Customs and Border Protection is handling the investigation into the incident.
Copa Airlines has since told the press in a statement, that the boy is unharmed and that he has been taken into custody by the relevant legal authorities. "And everyone was just screaming".
Passenger Isaac Rodrigues said they were all told to remain on the plane for over an hour as police dealt with the situation.
There have been other similar incidents before where passengers have tried to jump off planes. This was after he jumped out of the emergency door of a Boeing 737, shortly after it landed in San Francisco.
In 2014, a passenger on a China Eastern Airlines plane said he wanted to "get off the plane quicker" and deployed the emergency slide after the plane landed at Sanya Phoenix International Airport.
It's illegal for a passenger to open the door themselves, and it's unclear what charges he may face.