The service, named Pickup, is available in 13 cities from 700 restaurants and includes brands such as Byron, PizzaExpress and Chiquito.
Deliveroo says the feature will save customers both time and money as users won’t have to pay a delivery cost or wait in a virtual queue at times of high demand.
The company expects Pickup to roll out to over 10,000 restaurants within the next year to reach 200 UK towns and cities.
“Gone are the days of standing in a queue waiting to take-away your food...Pickup customers can collect their meal exactly when they want,” says Ajay Lakhwani, VP new businesses for Deliveroo.
“This is another move towards Deliveroo being the definitive food company, offering the widest selection of foods for all occasions.”
Deliveroo was founded in London in 2013 and now operates in 13 countries worldwide.
Tech giant Amazon led a £450m funding round in to the company in May after shutting down its in-house Amazon Restaurants platform in the UK after less than two years.
But the investment is currently on hold pending an investigation by the UK’s competition watchdog, which has the power to block deals if it believes consumers will have less choice.
A decision on whether the tie-up can move forwards is due by 11 December.