Daniel Khalife, was arrested after a four-day hunt to locate him, after his disappearance from Wandsworth prison in south London.
The Westminster Magistrates Court was told that Khalife strapped himself to the underside of a food delivery truck, possibly using bedsheets to escape.
The suspect would be remanded in custody until a further hearing at the Old Bailey court in London on September 29.
Before he escaped from prison, Khalife was awaiting trial over two incidents at the Royal Air Force based in Stafford, central England, near the army barracks where he lived.
He is accused of attempting to elicit information of a kind likely to be useful to a person committing or preparing an act of terrorism in August 2021.
He was also charged with a bomb hoax at the base on January 2 this year.
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