The attempted robbery happened just before 11:30 a.m. in the 8200 block of Castor Avenue.
Chopper 6 was over the scene as police appeared to interview the driver of the truck.
A witness who spoke to Action News says he heard shots fired.
"It was consecutive, like an automatic. Four quick shots," said Steve Petro.
Police released images of the vehicle and the suspects wanted in the case. The vehicle is described as a newer model black Nissan possibly Maxima/Altima, unknown Pennsylvania tag, with heavy tint on all windows, and black rims, according to police.
Sources tell Action News it was the Brinks truck driver who fired the shots. The truck had what appeared to be two bullet holes.
The driver remained on scene and he appeared to be unharmed.
"I'm shocked. This doesn't happen in broad daylight like this. I hope nobody was hurt," Petro said.
This is the latest target of an armored truck in recent months.
Nearly two weeks ago, police say $3,000 was taken from an armored truck in Holmesburg.
Sources tell Action News, on June 21, suspects stole $1.5 million in Port Richmond.
A week later, on June 21, police investigated another theft of about $1,000 in the city's Summerdale section.
Police believe several of the incidents are connected.