The officers released Stampa, who ran from the courthouse.
Judge Cameron said that in a letter to the court, Stampa attempted to excuse his actions.
"But the reality is, you knew you were a sentenced prisoner and took advantage of what appears to be some confusion on the part of corrections on the day. By deception you effected your escape on that day.''
Stampa escaped after appearing in Palmerston North District Court on September 6, 2011. He was arrested on November 23 after turning himself in at the police station.
Judge Cameron said Stampa had an extensive criminal history and had been imprisoned on a number of occasions.
In 2008 he was convicted of escaping custody and sentenced to six months in jail.
On that occasion, he escaped from police cells by crawling under the wire, running away and driving off in a car.
Stampa's counsel, Debbie Goodlet, highlighted the fact her client had handed himself in after three weeks and, although he had committed the same offence before, the aggravating features in this instance were much lower.
A pre-sentence report was waived.
In sentencing Stampa, Judge Cameron said he had to hold him accountable and deter others from attempting to escape custody.