Ford Motor is recalling nearly 1.1 million vehicles in the United States because rearview cameras may not display images due to a software issue, increasing the risk of a crash.

Ford is recalling more than a million vehicles due to a software issue that can cause the rearview camera to malfunction, increasing the chance of an accident, government auto regulators said.

The software error, which Ford reported to the National Highway Traffic Safety Administration earlier this month, may cause the rearview camera image to delay, freeze or not display when the vehicle i...