The owners were asleep at their home in High Street, Clive, near Shrewsbury when intruders broke in overnight by forcing a window.
Sets of keys for a black Audi RS4, registration number CX06GNP and a black Audi S3, registration KW07NXL were discovered by the thieves during a search of downstairs rooms.
They made off in the two vehicles following the breakin which happened between 11pm last night and 3am today.
Detective Inspector Mick Homden said: “We are anxious to hear from anyone who may have seen suspicious activity linked to this crime. Information is also being sought concerning the whereabouts of the stolen cars.
“Any information which may assist the investigation should be passed to Shrewsbury CID on 0300 333 3000, or to the anonymous Crimestoppers number, 0800 555 111.”
He added that the incident served as a reminder to people to keep their vehicle keys well hidden in the home at all times as a security precaution.
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