The three men arrived at the house on Arbour Way in Norton at around 7pm on Wednesday, February 24 in a white Audi hatchback.
They went inside and threatened the occupants with violence before leaving empty-handed.
No one was hurt but police say the people in the house were left very shaken.
They drove off and travelled through Malton, leaving the town along Yorkersgate.
Police are appealing for anyone who saw the white car in the area or has any other information that could help to find the vehicle and the men, including any drivers who captured the white Audi on dash-cam, to get in touch.
Anyone who can help should call North Yorkshire Police on 101, select option two, and ask for Beverley Garbutt. You can also email [email protected], quoting reference number 12210066083.
Information can also be passed on anonymously via Crimestoppers on 0800 555111.
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