The D.A.'s office said Tuesday the baby's grandfather, 41-year-old Haamza Muhammad, was charged with Endangering the Welfare of Children, Recklessly Endangering Another Person, Theft and Conspiracy.
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He is currently in custody in Chester County on an unrelated incident.
The child's father, 22-year-old Alganon Muhammad, was charged about a week after the incident.
It happened around 11:30 p.m. on Jan. 18 at the store located on the 4300 block of Byberry Road in Northeast Philadelphia.
Investigators say a total of three people fled after being confronted by store security for possible shoplifting.
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They left a baby, who authorities now say was less than 2 months old at the time, behind in a carrier.
There was no word on the identity of the third person involved.
The infant was unharmed and taken to Jefferson Torresdale Hospital for evaluation before being released to her mother.