The National Transportation Safety Board expressed displeasure with Tesla Inc.’s recent disclosure that the company’s semiautonomous driving system was activated before a fatal crash last month in California.

The agency, which dispatched a team last week to investigate the March 23 crash, said Sunday it is “unhappy” that Tesla revealed detailed information it had gleaned from vehicle logs about the collision, including its suggestion that the driver had time to put his hands on the wheel and react.

Tesla...