TfL said the poster breached its advertising code

Tube bosses said they were put up at Liverpool Street, Bank and Waterloo stations without permission.

The poster, to publicise a television show, showed the model holding men on a leash with the tagline: "Twelve get trained, only one gets kept".

LU said it "breaches our advertising code relating to the depiction of men, women and children as sexual objects."

Series of bans

"It was displayed at a small number of stations by our advertising contractor Viacom without prior approval.

"Viacom has been instructed to remove the offending advert as quickly as possible."

The advertisment promotes her show for digital channel VH1, Kept, which sees men battle to become her toyboy and become a "kept" man.

Several posters have fallen foul of LU's guidelines over the years, including one for Martin Amis' autobiography showing the author smoking as a child.

More recently the High Court overruled a ban on posters for holidays in Turkish-controlled northern Cyprus. Transport for London pulled the ads after complaints from some Greek Cypriots.

Last summer, one of LU's own posters advising people not to eat smelly food on the Tube was pulled, following a complaint from the Italian ambassador.

It pictured a passenger surrounded by salami and Parma ham, which critics said was "offensive and harmful to Italian products".