The MoD said it would be "impractical" to ask the company to withdraw images that were available through other sources outside its control.
An MoD spokeswoman said: "The MoD cannot prevent satellites taking imagery of its establishments, however we ensure that steps are taken to protect highly sensitive equipment. It would be impractical to ask Google to withdraw images as they can be easily obtained from other sources over which we have no influence."
Google said that Street View posed "no appreciable security risk" as it took shots purely from public roads.
A spokesman said: "One in five people already use Google Street View for house hunting and the scheme has previously launched in 20 countries without any breach of security issues. Google only takes images from public roads and this is no different to what anyone could see travelling down the road themselves, therefore there is no appreciable security risk. We're happy to discuss any concerns as they arise."
Liberal Democrat MP Mr Keetch told the Daily Mail: "The footage is simply not acceptable during a time of perceived terrorism. There needs to be a certain degree of restraint shown by people like Google. I wouldn't want a terrorist to be inspired by these pictures and it would be appalling if any help at all was given to our enemies."
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