Mark Cavendish and his wife were held up at knifepoint while they were at home with their kids.
There was a raid in Ongar, Essex, in November 2021.
The jury was told that one of the raiders was going to stab the athlete in front of his children.
Two people deny robbing.
Edward Renvoize, opening the first day of the trial, said it was a well-orchestrated and well-executed planned invasion of the home of a well-known individual with the intention of grabbing high- value watches.
The attackers were interested in obtaining watches and once they got them, they left the premises without much else.
Two people are denying two counts of robbery.
Mr Cavendish thought he heard male voices when he was in bed with his son.
Mrs Cavendish went to investigate because her husband was getting better, jurors were told.
The court heard that she heard voices coming from the kitchen and saw people running towards her.
The suspects, who were armed with large knives and wearing balaclavas, followed her to the bedroom and told Mr Cavendish to turn his panic alarm off.
Mr Renvoize said that one of the men threatened to stab him in front of his children.
Three masked individuals were asking where the watches were and collecting their phones.
Mrs Cavendish hid her three-year-old under a bed to prevent him from seeing the robbery.
When Mr Renvoize ordered the gates to be opened, he said the invaders left with telephones, suitcases and watches.
The patio door was broken.
The prosecutor said that Mrs Cavendish's phone was found outside the property and that it was an error in the robbery.
The jury was told that Ali Sesay, 28, of Holding Street, Rainham, east London, had pleaded guilty to robbery.
The trial was expected to last a couple of weeks.
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