Street scenes in 25 UK cities from Aberdeen to Southampton can be viewed using the service.
Offending photos have been replaced by a black image with the message "This image is no longer available". However, many of the images can still be viewed by moving up or down a notch on the street.
Dr Ian Brown, a privacy expert at the Oxford Internet Institute, said he was not surprised that there were some offending images.
"This is exactly what you would expect from a service that relies on individuals to help Google not make mistakes," he said.
"They [Google] should have thought more carefully about how they designed the service to avoid exactly this sort of thing."
Many of the removed images can still be seen from a different angle
Dr Brown said Google could have taken images twice, on different days, so offending images could have been easily replaced and protected privacy better.
Google says it has gone to great lengths to ensure privacy, suggesting that the service only shows imagery already visible from public thoroughfares.
It also uses face recognition technology to blur out faces and registration plates that appear in the images.
The Information Commissioner's Office ruled in 2008 that the blurring was sufficient to ensure that privacy was maintained.
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Newsnight reports on Google's Street View service for the UK
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