ADT launched the ad by The Red Brick Road to establish home monitoring services as an "essential utility".
It features people cowering in dark rooms, looking scared at any sign of noise following a burglary.
The voiceover states, "It’s not just what they [burglars] take, it’s what they leave behind".
Five members of the public complained to the Advertising Standards Authority (ASA) that the ad's focus on the long lasting emotional trauma caused by burglaries was "offensive" and "distressing".
The ASA decided last month not to investigate the ad after receiving the complaints at the end of August.
ADT positions itself as a service that provides 24-hour security for round the clock peace of mind.
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