Created by TBWA\London, the poster featured a side view of a stationary Navara sitting on top of the heading "The give way sign".
The Advertising Standards Authority did not agree with the complainants' view that the poster was aggressive, and decided that most readers were likely to see it as humorous.
"We noted the poster was intended to convey that drivers would be impressed by the vehicle and did not show the vehicle in a dangerous or aggressive situation," the ASA said.
Nissan, which said it has no plans to re-use the poster, said it was intended to convey the idea that the Navara was a vehicle that earned and attracted the respect of other road users.
Three months ago, the ASA banned a TV ad for Range Rover because sharp cutting gave the impression the car was moving quickly.
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