The armoured vehicle was parked on Hannah-Karminski-Straße in Charlottenburg, west Berlin at 8.15pm when it was approached by three men.
Citing police sources, the Berliner Morgenpost said the three masked men were disguised as seniors, approaching the van with wheelchairs and walking frames.
Two guards were outside the van, reportedly stretching their legs while the driver was in the car.
The three masked men threatened the two guards with guns and disarmed them. They then fired several shots at the van and the driver got out, police said on Tuesday.
The driver opened the rear door of the vehicle and the attackers grabbed the loot and fled into a waiting silver Audi.
The Audi was later found burnt out. No one was injured.
A similar robbery took place outside the Apple Store in Berlin ten days ago. Armed robbers cleared out the van and then set their getaway car on fire.