A spokeswoman for Deliveroo suggested that the ad, which first aired on television in February, was not to be taken literally.

“We know some people will be disappointed to hear that Deliveroo can’t yet deliver to outer space and is still to reach some parts of the U.K.,” the spokeswoman, Emily Kraftman, the company’s director of marketing for Britain and Ireland, said in a statement.

She said that the company had intended for “a playful and humorous” commercial to show that deliveries were possible in “a wide range of places for a range of occasions,” including a home, an office, the park or a friend’s house. Deliveroo is available in about 200 towns and cities in Britain, and is expanding rapidly across the country.

The company tried to make sure the ad was not misleading, Ms. Kraftman said. It worked with Clearcast, a nongovernmental organization that operates the clearance system for television commercials in Britain, before the ad aired. Clearcast suggested the on-screen restriction text.

The Advertising Standards Authority said that the ad was still likely to mislead viewers.

“We considered the very clearly fantastical nature of the settings — for example, in space and a car chase — was likely to lead viewers to interpret the qualification to mean that the restrictions applied to places where it would be ridiculous to expect to be able to access the service, rather than that there were certain areas of the country that were excluded,” the regulator said.