The scheme comes as supermarkets looks to deliver groceries to customers' doorsteps as quickly as possible.
The tie-up comes as the UK supermarket giant and its rivals look to offer delivery services to customers’ doorsteps as quickly as possible.
The pilot will begin at a Tesco branch In London and be tested at a select number of other outlets.
Tesco launched its own fast-track delivery service, Whoosh, from its convenience stores earlier this year.
The service operates from around 60 shops and promises delivery in an hour.
"This pilot with Gorillas will help customers get their products right away, supporting those looking to buy food for tonight or last minute forgotten items," said Jason Tarry, chief executive of Tesco UK & Ireland.
Gorillas, which was founded in 2020 and now operates in nine countries, announced last week it had secured nearly $1bn in its latest funding round.
In an effort to disrupt the delivery market, it says it can deliver base groceries within 10 minutes for a flat fee of just over $2.
Adrian Frenzel, the chief operating officer of Gorillas, said: “The co-location partnership enables both brands to bring their strengths to the table and establish a quicker, higher-quality grocery offering to UK consumers.