Richard Hill, 71, left his keys in the ignition of his Kia Picanto intending to pay at the forecourt kiosk just metres away from where he had parked.

But with the external counter closed he was forced to go inside during which time the thief swooped in and sped off in the car.

The entire incident was caught by CCTV cameras at the Birches Bridge Esso station in Bilbrook.

Staffordshire Police are investigating the incident which took place on May 4 but have so far made no arrests.

During the 1960s and early 1970s Mr Hill was a successful racing driver winning more than 100 events across various disciplines including rally, autocross and hillclimbing.

Despite retiring from motorsport more than 40 years ago, losing a car is still hard to swallow for the former champion.

He said: "It was as I got to the desk to pay that the woman, who I have known for many years, that she said 'someone has just driven off in your car'. I was only there a couple of minutes and the bloke was in it and gone. I was gutted. I never leave the keys in the ignition. It was only because I had pulled up so close to the kiosk."

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The CCTV footage – which can be viewed on the Shropshire Star website – shows a man appearing to use a nearby cash machine as Mr Hill fills his car with £30 of petrol. The man then walks past Mr Hill's car and has a close look inside through the window before disappearing out of shot.

When Mr Hill goes inside to pay the man reappears and can be seen getting into the car before racing off at speed.

Mr Hill, who lives in Bilbrook, added: "My advice to everyone would be do not leave your keys in the car at any time or in any circumstances.

"It is a lesson I have learnt the hard way and which has cost me £5,000 as my insurance firm is refusing to pay out."

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Mr Hill, who has three children and four grandchildren, started his racing career in a Ford Anglia and was a member of the Dudley and District Car Club. He went on to compete at national and international level and was once a runner-up in the prestigious Manx International Rally held on the Isle of Man.

Throughout his racing career he worked as a marketing manager at his father's ladder manufacturing firm, RF Hill Ltd, before taking over in 1972.

A spokesman for Staffordshire Police, said: "This appears to us to be an opportunistic theft." Call police on 101.