Charles Burns, 57, was turned away when he ordered a cheeseburger at the serving hatch at the Pompey Centre in Fratton, Portsmouth after riding up on his bike.
The refusal has sparked an angry reaction from environmental campaigners, who have called on the company to change its 'illogical' policy.
Mr Burns, of Fawcett Road, Southsea, said: 'Myself and the wife had been out for the day and we're feeling a bit peckish so we stopped by at McDonalds.
'The restaurant wasn't open so we went to the drive-through. But the chap behind the counter said he wouldn't serve us because we weren't using an insured vehicle. I couldn't believe it.
'It wasn't the employee's fault. They were clearly embarrassed about trying to follow an unsustainable and illogical company policy.'
Former shopkeeper Mr Burns said the refusal was particularly surprising as the restaurant is next to a cycle lane.
The company's head of customer services, Janet Lenz, said McDonalds supported the health and environmental benefits of cycling.
But she added: 'The drive-through facility is designed for motor vehicles and, on balance, we are concerned that use by cyclists could compromise their safety.'
simon.coughlin@thenews.co.uk