The crime occurred on April 24 at 8:56 a.m. at a Wells Fargo bank branch at 400 S. Market Street.
"The messenger, who was holding a parcel of money, was standing outside of the Brinks armored truck prior to stocking the ATM," FBI spokeswoman Laura Eimiller said.
The armed suspect ran toward the messenger and demanded the bag of money. Witnesses told police he then shot a round from his semi-automatic handgun into the ground.
The suspect ran through the parking lot with the "large amount of cash," pointing the gun at the messenger as he fled into a nearby alley way, Eimiller said.
RAW VIDEO: Brazen gunman robs armored car employee in Inglewood
The suspect was described as a Hispanic male, between 5 feet 6 inches and 5 feet 9 inches tall, about 160-170 pounds with dark, very short hair and brown eyes.
He was last seen wearing a dark shirt, jeans, a black bandana covering his lower face, blue plastic gloves and a gray semi-automatic handgun.
Statistics show a total of 21 armored trucks were robbed across the United States in 2014.
Anyone with further information on this crime was urged to contact the FBI at the bureau's 24-hour hotline at (310) 477-6565 or the Inglewood Police Department.