Ford has already issued an apology for the mocked-up ad, which leaked online last week. The animated ad depicts Kim, Khloe and Kourtney Kardashian bound and gagged in the trunk of a Ford Figo, with Paris Hilton winking from the front passenger seat.
A similar Ford ad features former Italian Prime Minister Silvio Berlusconi and three women.
An attorney for the Kardashians tells E! News that they are "exploring all of their legal options," and calls the ads "disgusting, vile and offensive to all women."
"It is unacceptable that Ford would align itself with an ad agency that would so carelessly release these ads," the family lawyer told E!
The campaign, whose slogan reads "Leave your worries behind with Figo's extra large boot," was created by the ad agency JWT India but was never put into use.
The Figo is manufactured in India and is not available in the U.S.
Last week, Ford apologized, saying "We deeply regret this incident and agree with our agency partners that it should have never happened. The posters are contrary to the standards of professionalism and decency within Ford and our agency partners."