The use of autonomous delivery robots (ADRs) in last-mile delivery, as an emerging innovation, could have drastic implications for businesses and customers. This study adapts and extends the UTAUT2 (Unified Theory of Acceptance and Use of Technology) model to investigate the determinants of acceptance for autonomous food delivery robots. We examine the impacts of privacy and security concerns on the relationship between social influence and adoption behaviour. In addition, the relationship between environmental friendliness and behavioural intention toward adoption is examined. These factors are fairly unexplored in previous studies in the context of food ADRs. In doing so, the study collected 590 online responses from potential customers using a random sampling technique. The results showed that both moderation effects of privacy concerns and security concerns are supported and both variables deteriorated the social influence of adoption. In addition, the negative relationship between contactless delivery and the adoption of ADRs was confirmed in this study. Furthermore, the results confirmed the positive impact of environmental friendliness on the adoption of food ADRs. The findings offer valuable insights into the effective deployment strategies of ADRs in food delivery.