The actor had started filming in UNESCO-recognised Hampi in Karnataka on Rowdy Rathore, opposite Sonakshi Sinha, reports Mumbai Mirror.
"Their licence has been cancelled. We asked them to pack up for violating rules that were conditions for granting permission," said DR Ashok, commissioner for the site.
"It was the call of the Archaeological Survey of India and we enforced it. We are also making certain amendments to the rules to ensure such things are not repeated," he added.
The film shoot is also reported to have prevented tourists from visiting the 14th century South Indian archaelogical site.
The cast and crew of the upcoming project are said to have drive up to 20 cars and jeeps in an area where vehicles are prohibited.
Following cancellation of the permit, Kumar and Sinha reportedly left the town one day into a three-day filming schedule.