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A Cherenkov-type terahertz electromagnetic radiation is revealed, which results efficiently from the collective effects in the time-domain of ultrafast pulsed electron current produced by ultrafast intense laser-plasma interaction.The emitted pulse waveform and spectrum, and the dependence of laser pulse parameters on the structure of the radiation field are investigated numerically. The condition of THz radiation generation in this regime and Cherenkov geometry of the radiation field are studied analytically.