Robbers attacked a security guard and stole cash from a branch of Lloyds Bank.
Two men targeted the bank in Park Street, Shifnal, just before 2pm yesterday.
As the G4S driver was leaving the bank, the men grabbed the cash box from him and fled on a motorbike.
West Mercia Police spokesman Chris Ammonds said: “They made off in the direction of the A41.”
The raid follows an attack on the nearby Barclays Bank in August.
A spokesman for G4S said: “The driver is extremely shaken but unharmed.”