A heavily-armed gang with assault rifles opened fire on security guards and shoppers as a supermarket ATM was being loaded with cash.

Terrifying CCTV footage of the raid shows the gang, one of whom is wearing a Joker mask and another a Salvador Dali mask from ‘Money Heist’, rushing into the store with guns blazing.

As one security guard is knocked off his feet by the gunfire, a female shopper is hit in the foot, while a cashier cowers behind a counter.

The three raiders can be seen piling up boxes of cash, with one robbing the fallen guard, before they run out to their getaway car while firing off a hail of bullets to scare passersby.

The robbery took place at a supermarket in the neighbourhood of Mineirao, in the municipality of Sorocaba, in the Brazilian state of Sao Paulo, on the morning of 5th April.

The guard was shot in the leg and chest but was saved by his bulletproof vest.

The gang targeted the supermarket while the ATM was being filled with cash, according to local media.

The suspects fled the scene in the car and no arrests have yet been made.

Meanwhile, the supermarket has reiterated that it is cooperating with the police during the investigation.