Liberal Democrat leader Nick Clegg, the Deputy Prime Minister, has also ruled out extending nationwide a much-criticised scheme in which vans carried the same message around London. He also said he would oppose plans to force some visitors to the UK to pay a £3000 "bond", declaring: "In a coalition I can stop things".
The LibDem stand comes as party leaders try to differentiate themselves from their Coalition colleagues ahead of the next General Election - and warn the Tory party would not play "fair" on the economy if it gained power on its own.
Mr Moore told The Herald he thought many Scots viewed the posters, pioneered by Theresa May's Home Office, as "deeply distasteful".
An evaluation of the scheme is under way. It is understood the LibDems have intervened to make their views clear on that consultation.
"I found them distasteful and I made that clear to the Home Secretary as well," he added. "From our perspective it was a pilot that hit all the wrong notes. There are ways of dealing with people who no longer have the right to remain in this country. But it has to be done with sensitivity and care."
The posters, which were on display in UK Border Agency offices in Glasgow and London, read: "Is life here hard? Going home is simple", adding: "Ask about going home."
Campaigners protested that "go home" was a well-known racist taunt that had no place in any Government campaign.
Positive Action in Housing, a Glasgow-based charity, condemned the posters as "shameful and deeply offensive".
The charity's director Robina Qureshi said the LibDems' pledge was a victory for common sense. She added: "This is a great success in terms of trying to make sure asylum policy is more humane. However, as part of the UK Government, Liberal Democrats should explain why they approved this campaign in the first place."
A spokeswoman for the Scottish Refugee Council also welcomed the LibDem commitment, saying: "We are pleased the Home Office saw sense and withdrew the vans and we hope the same will happen soon in Glasgow."
Yesterday, Mr Clegg used an appearance on the BBC's Andrew Marr show to describe the immigration vans as "silly". Asked if he would support them being rolled out across the country, he said: "Of course not".
The Home Office has insisted there was a good response to the pilot projects designed to crack down on the number of people in the UK illegally. The vans, which travelled around London, were defended by Prime Minister David Cameron only last week.
When the LibDem conference began in Glasgow, Mr Clegg set out his General Election pitch that coalition government was the way forward. He argued returning to single-party government would result in the sacrifices made by millions of Britons during the downturn being "squandered".
Today, as the party debates the economy, tensions at the top emerged with both Mr Clegg and Danny Alexander, the Chief Secretary to the Treasury, dismissing the fears of their colleague Vince Cable, the Business Secretary, that the UK Government's Help to Buy Scheme could lead to a new housing bubble.