The robbery was reported at about 7:15 p.m. at a Pizza Guys restaurant in the 1100 block of Sycamore Drive, according to police.
CRIME MAPS: Track crime in your neighborhood
An officer arriving to the area spotted two men fleeing from the scene who matched the description given of the suspects, police said.
A perimeter was set up and the suspects were found and arrested after an extensive search, according to police.
Officers found the weapons used in the robbery, as well as the cash taken, in possession of the suspects.
Terrell Kilgore, 18, and Detwan Kilgore, 19, were arrested, and both were found to have prior armed robbery arrests, while Detwan was also a parolee at large for carjacking, police said.
No one was injured in the robbery.
Anyone with information about the robbery is urged to contact Antioch police at (925) 778-2441.