Police allege the 47-year-old was armed with a weapon when he demanded money from staff at the Wivenhoe IGA near Burnie just after 6:00pm.
It is alleged he left the scene with an amount of cash in a red ute.
Police, acting on information they had received, arrested the man a few kilometres away at Sulphur Creek at about 7:00pm.
Anyone who has information regarding the incident is urged to contact Crime Stoppers on 1800 333 000. The man is scheduled to reappear in the Burnie Magistrates Court on Monday.