Fresno County sheriff's officials say David Ybarra of Kerman robbed the Bee's Market in Raisin City at around 1 pm.
Ybarra held a gun up to the clerk and demanded cash, officials say. Then, he threatened him and fired a shot at the floor.
Deputies say Ybarra drove away in a white SUV, which investigators were able to later track down near Jensen and Goldenrod in Kerman.
During a traffic stop, deputies found a bag of cash and a stolen gun that was loaded.
No one was injured during the robbery.
Ybarra was booked into the Fresno County Jail for robbery, assault with a firearm, being a felon in possession of a gun, burglary and making criminal threats.