Dopamine release in the nucleus accumbens (NAc) plays a critical role in the motivation to perform actions that promote survival. However, the NAc dopamine response to innately threatening visual stimuli, such as predators descending from above, and the innate behaviors they promote has not been fully characterized. Using the genetically encoded sensor dLight1, we investigated looming visual threat-evoked dopamine release in the lateral (LNAc) and medial NAc shell (NAcS) regions in freely moving mice during performance of a looming stimulus assay. We found that dopamine release related to visual threat perception in the NAcS, but not in the LNAc, predicts the timing and vigor of a future defensive action, yet dopamine released during the performance of the action itself does not. Optogenetic inhibition of dopaminergic terminals in the NAcS at visual stimulus onset prevented escape, confirming a role for ventral striatal dopamine in promoting threat-related behaviors.