Marcus Pettway, 25, entered Bank of America at 60 Hempstead Ave., about 4:15 p.m., handing a teller a note that demanded an undisclosed amount of cash, officers said.
No injuries were reported.
Police said the robber went southbound on Hempstead Avenue on foot, and officers later found him at Hempstead Gardens Drive and Cedar Street, where he was arrested. The money was returned to the bank, police said.
Six employees and four customers were present during the robbery, according to police. Pettway is charged with third-degree robbery and will be arraigned in First District Court in Hempstead Wednesday.