Ford says that wrongly positioned carpet padding could reduce space around the pedals and cause drivers to hit the side of the brake pedal when switching from the accelerator.
The auto maker told the National Highway Traffic Safety Administration that dealers will remove the carpet padding and replace a console trim panel at no charge.
Ford said the recall covered 8,266 vehicles in the U.S. Ford spokeswoman Marcey Zwiebel said it also affected about 2,000 vehicles in Canada and a couple hundred in Mexico.
Zwiebel said Ford had not received any reports of accidents or injuries related to the problem, which she said was discovered "through internal evaluations." The vehicles were built between March 8 and June 7 at Ford's assembly plant in Louisville, Ky.
The recall is expected to begin July 23. Owners may call the automaker at 866-436-7332.
Ford sold 28,500 Escapes last month, up 28 percent from June 2011.