Detectives have released dramatic CCTV and mobile-phone footage showing three men threatening an Armaguard security guard with rifles and a pistol on a central Sydney street.

The vision shows one of the men holding a rifle to the guard’s back during the robbery near the Broadway shopping complex on Bay Street, Glebe, in March 2013.

Police said one of the men also allegedly stole the guard’s gun and fired a shot during the hold-up.

However, the men did not manage to get into the van or steal any cash.

Two men, aged 23 and 29, are facing charges over the attempted robbery, but police are still looking for the third man involved in the robbery and the getaway driver.

Police said the trio left the scene in a dark grey Audi RS6 station wagon, which was driven by a fourth man.

The wagon had been stolen “during an alleged aggravated break-in” at McMahons Point, on Sydney’s Lower North Shore, police said.

Watch the alleged robbery:

The third man was described as about 175cm tall, with an athletic build. He was wearing a black ski jacket and black pants, and his face was covered by a balaclava.

The getaway driver did not get out of the car during the attempted robbery and police did not have a description of him.

Detective Acting Superintendent Brad Monk said other people may have helped to hide the car.

“We know the stolen Audi was not seen for several months after the attempted robbery and believe it could have been garaged in the inner west during this time.”

“It’s also likely the firearms, including the revolver stolen from the security guard, could have been stored in the vehicle for a period of time.

“We are asking the community, particularly residents of apartment complexes in the inner west, to think back — can you recall the Audi being parked in your building’s car park around that time?”

Police have urged anyone with information to contact Crime Stoppers.