Raiders charged at staff with a shopping trolley when they robbed the Co-op in Station Road, Langley Mill, on Monday night, according to a police spokesman.
Two men with scarves covering their faces entered the store at 7.55pm.
While one man went behind the counter and stuffed cigarettes into a black plastic bag the other man threatened members of staff and then rammed a shopping trolley at them.
The pair drove off in a blue Mini Cooper with a checked roof along the A610 towards Nottingham.
A spokesperson for the Midlands Co-operative Society said: “The staff at the store were shaken but were otherwise unhurt and we are doing everything we can to support them at this time.
“We are now assisting the police with their investigations.”