In it, she 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.
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."
There's no word from Kendall yet.