Christian and Muslim clerics said the advert encouraged infidelity, rather than safe sex to curb HIV/Aids.
In the government-sponsored advert, a woman in an extra-marital affair is advised to use condoms.
Dr Cherutich told the BBC the advert had been launched because up to 30% of married couples had other partners.
Around 1.6 million people out of Kenya's population of 41.6 million are living with HIV, according to the UN.
The Kenyan Anglican Church's Bishop Julius Kalu said the advert, shown on free-to-air TV stations at peak audience times, had promoted extra-marital affairs and sex among school pupils, Kenya's Daily Nation newspaper reports.
"There are better ways of passing useful information to society. This one has certainly failed," he is quoted as saying.
"It openly propagates immorality, especially when all family members are
gathered before television sets, waiting to watch news," Bishop Kalu