Police were called shortly before 2.20pm on Monday 23 September 2019 to the robbery, which occurred outside Barclays bank on Liverpool Road, Cadishead, Salford.
Two men threatened a cash-in-transit courier with a firearm, which was discharged into the air during the incident.
They then left in a purple VW Golf with a stolen cash box – which contained no cash – before setting the vehicle on fire off Alltoment Road, Cadishead.
There courier was unharmed during the incident.
Police have now released footage of the incident and are appealing for anyone with information to come forward.
Sergeant Karl Dalton of GMP’s Salford District said: “As the footage shows – this was a terrifying ordeal to live through for the cash-in-transit courier.
“Thanks in part to his remarkably calm-handling of the situation, he was left unharmed and despite the psychological impact of crimes like this, he is recovering well.
“The footage we have released is very clear. While the men have their faces covered, we’re confident that someone may recognise them.
“The car they left in is also quite distinctive. Did you see it in the area prior to or after the incident?
“Even the smallest piece of information can often be enough to help officers solve crimes like this. If you know something that can assist us, please get in touch as soon as possible.”
Anyone with information should call police on 0161 856 5168 or the independent charity, Crimestoppers, on 0800 555 111.