The garments, which are included in the siblings' Kardashian Kollection, are for little ones aged between zero and 24 months.
Items on sale online and at branches of Babies R' Us include leatherette mini skirts, faux fur animal print vests, leatherette panelled leggings and gold lurex pants.
The controversy comes just weeks after Babies R' Us' parent chain, Toys R' Us, was forced to pull Breaking Bad toys from shelves after claims they were glamourising hard drug use.
Kansas mum Amie Logan has started a petition to have the "damaging" baby clothes removed from shops. "I don't want my child to grow up to be a Sex Tape star," Amie wrote on her online Change.org petition. "You pulled the Breaking Bad toys because they promoted drug use. You should pull this clothing line because it promotes bad behaviour as well. The madness has to stop. If the toys are damaging so is the clothing."
Her petition reached over 2,500 signatures before being closed.
Although many of the designs were not created by the Kardashian sisters, each item is given a personal seal of approval by either Kim or Kourtney, both of whom have young daughters themselves.
Kim has come under fire in recent months for dressing her one-year-old daughter North West in overly adult clothing, including a sheer black dress to match her mum's outfit at Paris Fashion Week.
