Officers in Bergen, in Germany’s Lower Saxony region, were called to the shop near a federal highway after several motorists spotted the ungulates.
In total, seven camels were found to have broken free.
In a statement, police said: “Police officers [...] discovered that the seven camels had broken out of the nearby winter camp of a circus.
“In order to prevent a risk for the flowing traffic on the B3 [highway], they secured the location until the animals were returned to their barn.
“A responsible employee of the circus took the animals back to their stables.”
The break-out took place on Monday, officers added.
It is not the first high-profile camel escape to hit Germany this year.
In April, police were forced to respond after two of the animals escaped from a circus in Bremen and were found grazing near a McDonald's restaurant, DW.com reported.