At around 8.30 pm on Tuesday night, March 9, three men forced their way into a house in Peasehill Gait, Rosyth, and threatened a 44-year-old female householder and her two children before making off with a four-figure sum of cash.
The men then jumped into a waiting vehicle which drove off at speed.
All the suspects are white men who wore face masks.
One is described as approximately 30 years of age, 5 ft 10 ins, of stocky build, wearing dark clothing including gloves and a face mask.
The second is in his late 40s, 5 ft 10 ins, of heavy build, with blue eyes and ginger facial stubble. He was wearing dark clothing, gloves and a face mask.
The third man is in his 30s, 6 ft, of heavy build, with blue eyes, blond facial stubble and was wearing a grey hooded top, and a face mask.
Detective Inspector Christopher Dow, Glenrothes CID, said: "Thankfully no one was injured during this incident, but it was an absolutely terrifying experience for the family.
"Following a house alarm being activated, the suspects ran from the house but not before they managed to find cash within.
Police believe the crime took “a degree of planning” and therefore it is possible the suspects had been in the area before the robbery, checking the address and the family's
Police are asking if the public in the residential area have seen a vehicle they didn't recognise between 8.00 and 9.00pm on Tuesday night, or in the days leading up to the incident.
Police have said they believe the men would have driven via Hilton Road to get out of the estate.
Detective Inspector Dow added: “If you were driving in the area, we would be particularly keen to view any dash-cam footage you may have.
"These men had no regard for the family and the robbery was particularly threatening, so it is imperative we catch these men.”
Anyone with information can call the Police on 101, quoting reference number 3062 of 9 March, 2021.