Data firm Experian Catalist said the average price of a litre of petrol was 170.4p on Tuesday and diesel reached a high of 181.4p per litre.
The price of petrol has now added around £23 to fill up a typical 55-litre car as it has risen by around 41p per litre over the past year.
RAC fuel spokesman Simon Williams said the price of petrol has reached “another unfortunate landmark”.
“While wholesale prices may have peaked for the time being last week, they are still worryingly high, which means there’s no respite from the record-high pump prices which are so relentlessly contributing to the cost-of-living crisis,” he said.
“We badly need the Government to take more action to ease the burden on drivers, which we hope will feature in its announcement expected this week.
“VAT at 20% on fuel is currently benefitting the Treasury to the tune of around 30p a litre, which seems very unfair when you consider it’s a tax on a tax as fuel duty – despite being cut to 53p a litre at the end of March – is charged at the wholesale level.”
AA fuel price spokesman Luke Bosdet said petrol has passed “yet another milestone of misery along the road of record pump prices” and there is “still quite some variation in pump prices among fuel stations in most areas.”