NuTonomy, the startup that beat Uber Technologies Inc. to public streets with robot taxis, will begin trying out autonomous vehicles in Boston by year’s end.

The company, financed in part by Ford Motor Co. Executive Chairman Bill Ford’s venture fund, announced on Monday a deal with the city of Boston and state of Massachusetts to test on public roads a Renault Zoe electric car with nuTonomy’s self-driving software.

The...