Bradley Richardson faces a felony theft charge, officials said.
The incident happened on Dec. 3 outside an H-E-B on University Boulevard and Highway 6.
SEE ALSO: New video shows person of interest following armored truck employee during Sugar Land H-E-B theft
Law enforcement says that a suspect stole a bag of cash from a security officer and took off. That's when the officer fired at the suspect vehicle at least twice, hitting it, according to the police department.
On Dec. 4, Sugar Land police said that two suspects were wanted after witnesses reported seeing two men where the vehicle was dropped off.
An investigation is still ongoing.
ORIGINAL REPORT: Security officer fires at suspect in armored truck theft outside H-E-B in Sugar Land, police say