Under the pilot project, customers will get their choice of 200 Aldi products delivered to their front door in as little as 30 minutes.
Customers used the Deliveroo app to select their preferred items.
The list includes essentials such as bread, milk and fresh produce.
The products are picked and packed by staff at the Aldi store in Maskew Avenue for delivery by Deliveroo’s network of riders.
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The supermarket chain says the service aims to offer customers greater flexibility and access to affordable Aldi groceries, and to support people who are self-isolating due to Covid-19.
The trial involves nine stores across the country, including six in the East Midlands.
If successful, the service could roll out to further Aldi stores by the end of 2020.
Richard Thornton, Communications Director at Aldi UK, said: “We hope the new trial with Deliveroo will provide more customers in Peterborough 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, Deliveroo said: “At Deliveroo, we are doing everything we can to make sure that people get the food they need and want during this unprecedented time.
“We are pleased to partner with Aldi and deliver even more choice to our customers as they continue to keep safe at home.”