The armed men entered the Village Pizza in the 2300-block of Chicago Avenue just before 5 a.m. Friday.
After ordering two slices of pizza, the men came around the counter and demanded the money in the register.
On the surveillance tape, one of the men is seen punching and pointing a gun at owner John Gagliardi Sr.
His son had just installed a camera system in the restaurant.
"I just put them cameras in about 12 hours before it happened," John Gagliardi Jr. said. "I was updating the camera systems, and I just put new cameras in. Twelve hours later, I got robbed."
Not only were the robbers caught on surveillance video in the restaurant, their get-away car and its license plate were caught on video from a neighboring restaurant's cameras. Police are currently following up on leads.