The posters promote the new book 'Ann Summers' Wild Guide to Sex' and show the Queen, pictured at the opening of parliament, with a copy of the book superimposed in her hands. A caption reads: "Phwoar, one must get one."
Ann Summers received a letter from Jonathan Spencer, deputy comptroller of the Lord Chamerberlain's office, saying that the poster did not comply with guidelines on the use of the Queen's image and that the poster "clearly carries no endorsement".
A spokesman for Ann Summers said: "We're not removing the window display and we haven't had any complaints from our customers. It was just a unique way of viewing the Jubilee and meant to be very light-hearted," he said.
The company is also promoting "Her Majesty's Pleasure", a gold vibrator that it has designed "specially to celebrate the Golden Jubilee".
The displays are due to be taken down on July 1.
If you have an opinion on this or any other issue raised on Brand Republic, join the debate in the .