Cat owners should also use the lift or stairs when possible, and keep their pets in or on the carrier when taking the escalator, the post said.
Finally, the video advises cat owners “not to overwhelm your pets”, and to consider off-peak travel and “routes that provide space and comfort”.
Cats Protection said it had contacted TfL to ask for the video to be removed from its social media channels.
“Promotion of cats travelling on the Tube risks encouraging more people to take an action which can be hugely stressful for cats,” a spokesperson said.
The charity advises that when a cat needs transporting, such as for a vet visit, a safe and sturdy carrier with a secure door should be used, rather than a cat backpack or a lead.
