The vehicles were recalled because the font size on a warning lights panel was too small. Tesla will address the issue with a software update.
Federal regulators said the automaker had not done enough to make sure that drivers were paying attention while using Autopilot.
Under pressure from federal regulators, the company has agreed to recall two million cars to update its driver-assistance system. The cars will be updated over cellular networks.
An employee who was fired after expressing safety concerns leaked personnel records and sensitive data about driver-assistance software.
A federal auto safety agency said the technology can cause crashes, but said the company was unaware of any deaths or injuries caused by the flaws.
Missy Cummings, who spent more than a year at the federal auto safety agency, said that drivers were putting too much trust in systems like Tesla’s Autopilot and that regulators needed to restrict their use.
A regulatory filing says officials have asked about software that Elon Musk, the chief executive, has said would allow cars to operate autonomously.
A wave of lawsuits argue that Tesla’s self-driving software is dangerously overhyped. What can its blind spots teach us about the company’s erratic C.E.O.?
Sales contracts prevent buyers of the company’s electric cars from pursuing class-action suits if something goes wrong.
Regulators said 1 percent of the vehicles recalled could have the defect. The products affected include 1.7 million Escape S.U.V.s.