Karl Jarvis, from Walsall, and Duane Jackson, from Birmingham, were arrested after a police chase following the robbery at a One Stop branch in the West Midlands last year..
CCTV footage of the robbery, which happened on Springfield Road in Sutton Coldfield on December 5, shows Jarvis march up to the till brandishing a knife, while Jackson stood guard with a screwdriver at the door.
The pair fled with cash after hearing an alarm in a stolen black Ford Fiesta, which a member of the public noted the registration of and reported to police.
WATCH footage of the robbery here:
Officers from Central Motorway Police Group located the car on the Chester Road in Erdington and, after it failed to stop, pursued it through red lights before it crashed into a wall.
Jackson, aged 29, of Ashcombe Gardens, Erdington, was arrested in the driver’s seat, while 30-year-old Jarvis, of Severn Road, Bloxwich, was held nearby after a foot chase.
Jackson was charged with robbery and dangerous driving, while Jarvis was charged with robbery and possession of a knife.
At Birmingham Crown Court on November 9, Jarvis was jailed for four years, while Jackson was jailed for three years and 10 months.
Detective Sergeant Tom Lyons, from Force CID, said: "This was an awful ordeal for the staff on duty in this shop, who all of a sudden were confronted with two armed men threatening them with violence.
"Thanks to great work by the member of the public who jotted down the registration of the getaway car and meant that we were able to start searching for the robbers straight away.
"Our CMPG officers were able to get behind the car and ensure that we had the men in custody really quickly."