Gossard, the Ladies' underwear manufacturer was yesterday ordered to remove sexu ally-charged posters following complaints.
Gossard's latest £1 million advertising campaign appeared on billboards across Britain earlier this month.
The Advertising Standards Authority made its ruling after receiving more than three dozen complaints from people who claimed the ads contained thinly-veiled references to oral sex and masturbation.
Among the posters being featured is one containing the blurred image of a naked woman lying on a bed, discarded items of clothing strewn around the room, and the caption: "If he's late, you can always start without him."
The Advertising Standards Authority spokesman, Mr Gary Ward, said: "These posters contained clear references to sexual activity including masturbation and oral sex.
"We did not feel this was an acceptable advertising strategy and could cause offence to some people."