She is accused of undermining the Black Lives Matter movement in the advert.
In the ad, Kendall Jenner leaves a photoshoot to join protesters calling for love and peace, before handing a can to police as a peace offering.
The officer cracks a smile and the crowd cheers.
Critics think the ad is based on recent protests over police brutality against black people in America.
The ad has been criticized for painting a “privileged, white” supermodel as a peacemaker between civil rights activists and police.
Pepsi posted the ad on its YouTube channel.
Some have suggested the ad looks similar to a picture of Ieshia Evans who was charged by riot police in Baton Rouge, Louisiana in 2016.
In a statement, Pepsi said: “This is a global ad that reflects people from different walks of life coming together in a spirit of harmony.
“We think that’s an important message to convey.”
Kendall Jenner did not comment yet.
In 1971, Coca-Cola made a similar ad based on the Vietnam War.
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