The shoplifting moment was caught on the security camera.
The moment the shoplifting was committed was caught on the security camera.
「万引き」→「Shoplifting」
「瞬間」→この場合には「Moment」
「防犯カメラ」→「Security camera」
「(カメラに)映る」→「To be caught on camera」
まとめて言いますと、
「The shoplifting moment was caught on the security camera.」
「The moment the shoplifting was committed was caught on the security camera.」
と表現します。
どちらでも使えます。