Rosie Huntington-Whiteley is in the clear after an advertising standards agency gave her the green light to continue using saucy pictures to promote her lingerie line.

The British model/actress has designed an underwear collection for U.K. high street store Marks & Spencer and she modelled the garments for an advertising campaign.

However, shots of the Transformers: Dark of the Moon star posing on a bed wearing nothing but underwear prompted a storm of complaints from members of the public who branded the pictures "offensive" and "degrading to women".

The complaints prompted an investigation by officials at Britain's Advertising Standards Authority (Asa), who have now ruled the images to be inoffensive and allowed the company to continue using them.

A statement from the Asa reads, "We considered that it was acceptable for advertisers of lingerie to show their products modelled in ads, provided they did so responsibly. Because the ads were for lingerie, consumers were less likely to regard the partial nudity shown as gratuitous. They did not draw attention to particular parts of her body in a way that was sexually suggestive."