The suspects flagged down a passing cab near the Viper Rooms on Parliament Street at around 3am on 30 October 2011 and asked to be taken to Skipton after agreeing a £50 fee with the driver.
As the cab approached Skipton, the men decided they wanted to go to Cross Hills and asked the driver to take them there instead.
Once they arrived in Cross Hills, at around 4am, the men requested that the driver stopped at the 24 hour garage on Station Road, so that they could go to the shop.
The driver agreed and all five men got out of the taxi but never returned.
Police enquires have established that none of the men went into the shop and instead left the garage via some steps at the side of the car wash, which lead to another area of Cross Hills.
Officers have obtained CCTV stills from the garage forecourt and are appealing to anyone who recognises the men to come forward.
PC Joe Swaine, of Harrogate police, said: “It appears that the suspects may have planned this in advance as they clearly knew about the steps, which also suggests that at least one of them is local to Cross Hills.
“The images of the suspects are quite clear and I am confident that someone will recognise them and tell us who they are.
“Unfortunately for the taxi driver, he is now £50 out of pocket and I would urge other drivers to collect large fares before setting off to ensure this doesn’t happen again.”
If you recognise the men in the image or have any information that could help the investigation, please contact North Yorkshire Police on 101 – select option to and ask for PC Joe Swain or Harrogate Police.
Alternatively, Crimestoppers can be contacted anonymously on 0800 555 111, quoting reference number 12110184259.