The Pentagon has banned Google's mapping teams from making detailed street-level video maps of US military bases after images of one camp's internal layout ended up on the internet.

A message sent to all bases and installations around the country late last week told officials not to allow the mapping web site from taking panoramic views inside the facilities.

Google said the incident was a mistake and that the footage of Fort Sam Houston in Texas was removed from its site within 24 hours.

Air Force General Gene Renuart said the decision to issue a formal ban was made after at least one Google crew was permitted access to the base. He was concerned the 360-degree, street-level view would make sensitive information – such as guard hut locations and building entries and exits - available to the country's enemies.

Renuart stressed it was not an attack against the internet giant, but more a concern about the secondary effects of a positive technology.

He said: "Google was very appreciative of us letting them know that we had a concern. They understand the security implications, and they have given us no indication that they would not be helpful to us if we asked."

Google spokesman Larry Yu said a map-making crew mistakenly asked for access to a base and officials agreed. "It is against our policy to request access to military bases for the purpose of capturing imagery in Street View," he said.

Street View is a feature on the Google Maps pages allowing viewers to click on a location and see a panoramic view of that spot.