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Nope, they are not allowed on the underground network unless they are folding bikes.

• Symbiote 4y ago
  Outside peak hours they are allowed on the sub-surface lines (Circle etc) as those have larger trains and simpler emergency evacuation. It's still not something you'd want to do very often. I think I did it once with a new bicycle that I'd bought from the other side of London, where the route home would have been long and completely new to me. Map of allowed lines: https://content.tfl.gov.uk/cycles-on-public-transport.pdf https://content.tfl.gov.uk/cycles-on-public-transport.pdf