The discounter is currently trialling the service from its Daleside Road store in Nottingham and plans to extend the trial to a further seven stores across the East Midlands this month.
Customers using the service will be able to choose from more than 150 Aldi products through the Deliveroo app.
Orders are picked and packed by Aldi staff in-store, for delivery via Deliveroo. Aldi said it has introduced the service to offer customers “greater flexibility” and to support those who are self-isolating due to coronavirus.
Aldi UK chief executive Giles Hurley said: “We hope the new trial with Deliveroo will provide more customers with access to great quality, affordable food at Aldi.
“This is a new and exciting venture for Aldi and we will be constantly reviewing how we can best serve our customers and continue to provide them with the high quality products they are used to in store.”
Ajay Lakhwani, vice president of new business at Deliveroo said the firm was “pleased to partner with Aldi and deliver even more choice to our customers as they continue to keep safe at home.”