The adverts were reportedly on display at the Lord Nelson, in Urmston, Greater Manchester.
The poster for Crystal Extra Cold Lager showed two different images but both included a woman in a tight top with her nipples protruding, with the tag line "Some things are better Extra Cold".
One user said the brewery was "taking us back to the 1970s".
Another called the advertising "appalling".
A fellow Twitter user questioned the brewery's brand values.
A Joseph Holt spokeswoman said the posters were from more than a decade ago and did not reflect the company’s current marketing policy.
She added that the brewery was not aware the posters were on display at the venue, which is part of its managed estate, until receiving complaints. She confirmed they had now been taken down.
The spokeswoman said said: “Joseph Holt regards the Diamond and Crystal Extra Cold posters that have been removed from the Lord Nelson, Urmston as an isolated incident with a very old poster which does not reflect our company policy or marketing strategy.
"The posters are not the current marketing campaign for Joseph Holt’s Diamond and Crystal Lager, nor are they a recent campaign. These posters are from a campaign that was over 10 years ago. The posters have now been removed from the Lord Nelson."