DETROIT (AP) _ Terry Rakolta expected family television on the top-rated, prime-time series ''Married ... With Children,'' but was so offended by the off-color humor in a recent episode that she sent her children out of the room.

Although she thought she would be ignored, Rakolta was angry enough to stay up that night until 4 a.m., writing to complain to advertisers about sexual innuendos and the treatment of women on the Fox Broadcasting Co. show.

Now Procter & Gamble Co., McDonalds Corp., Kimberly-Clark Corp. and Tambrands Inc. have told their advertising agencies not to buy time on the program, which began in 1987 and is the most successful show on the fledgling Fox network.

The president of Coca-Cola USA, Ira Herbert, told Rakolta in a letter that his company would screen the show more closely in the future.

''I must tell you that I am corporately, professionally, and personally embarrassed that one of our commercials appeared in this particularly unsuitable program episode,'' Herbert wrote.

The results surprised Rakolta, 40, a resident of the affluent Detroit suburb of Bloomfield Hills, with daughters 18, 10 and 9, and a son, 8. Her husband, John, is president of a construction company.

''I am not an activist. ... I've been involved in civic groups, but nothing cause-oriented,'' she said in a telephone interview Thursday.

That may change, she said, because she wants to start or join groups to organize national boycotts of advertisers with commercials on network television shows that have sexually oriented or violent scenes.

Rakolta said the show she watched one Sunday night in January with her son and younger daughters depicted a man visiting a lingerie store. The show included references to vibrators, an older man walking around in a garter belt and a woman in the store removing her bra for strangers, she said.

''I was thinking it was a family program because it was prime time, 8:30 p.m. I was horrified,'' she said.

Fox, which tries to attract young adult audiences in its effort to build a fourth television network, has no trouble selling advertising time on the show which airs Sunday evenings, said Fox spokesman Brad Turell in Los Angeles.

''The show is completely sold out,'' he said, adding that reports of Mrs. Rakolta's campaign have rallied support behind the show.

''We have received literally hundreds of telephone calls today from across the country from viewers saying that this one woman's opinion is getting too much attention and hoping that we won't change the show,'' Turell said.

Rakolta says the key issue at stake is viewer choice - not morality - amid what she feels is a proliferation of such shows that restrict her family's viewing choices.

''One person can really make a difference if they push the right buttons. And the right buttons are not the producers in Hollywood, they're the people that pay the money for the show,'' she said.

''Married ... With Children'' is a broadly played blue-collar comedy about a hapless shoe salesman, his vain wife and their two borderline, juvenile delinquent kids. Critics have favorably compared it to ''The Honeymooners.''

Other Fox officials defend the show. Don R. Bay, a Fox vice president, wrote that the Bundy family is ''a comedic counterpoint to other fictional television families who enjoy above average incomes, greater opportunities and have more refined tastes.''

Gary Lieberthal, chairman of Columbia Pictures Television, producer of the series, called it ''a parody of American life in a lower socioeconomic family.''

An occasional episode may offend some people, he wrote Rakolta, but ''Hopefully, many people (though we know not all) will be entertained by the outrageously absurd lives and off-center values of the Bundy family.''

The American Civil Liberties Union said Thursday that those who seek to influence television content through pressure on advertisers are attempting censorship.

''If you don't want to watch it then don't watch it,'' said Carol Sobel, an ACLU attorney who has dealt with free speech issues. ''I think what is inappropriate is to force your views on anyone else.''