Twenty-four-year-old Kenneth Konias Jr., of Dravosburg, was sentenced Tuesday.
A county judge in Pittsburgh convicted Konias in November of first-degree murder, robbery and theft.
He found that Konias killed fellow Garda Cash Logistics guard Michael Haines on Feb. 28, 2012, and stole the money they had collected from businesses earlier that day, most of it from Pittsburgh's Rivers Casino.
Haines' body was found inside the idling truck under a bridge.
Two months later, Konias was arrested in Pompano Beach, Fla., after a prostitute tipped off police. Federal authorities recovered about $1.3 million of the stolen money.