Paul Allen, a former cage fighter from Chatham, Kent, pleaded guilty to conspiracy to kidnap, conspiracy to commit robbery and conspiracy to possess a firearm.
He admitted the charges on Monday at Woolwich crown court ahead of his retrial.
The 30-year-old had been due to go on trial again after an Old Bailey jury failed to reach a verdict in his original trial in January.
The trial had heard how Mr Allen's friend Lee Murray, who now lives in Morocco, masterminded the raid on the Tonbridge depot.
The manager Colin Dixon and his family were kidnapped during Britain's biggest cash robbery.
In January last year five people were jailed for their part in the raid.
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