In aWhich? and Research Institute of Disabled Consumers survey, 53 percent said the courier did not wait long enough for them to answer the door – while 25 percent said parcels were left in an inaccessible spot.
One in eight even said they would have had to put themselves in danger in order to retrieve a package that had been left for them.
Two in five people who later complained to the delivery firm or retailer about their issue said it was difficult to contact them.
Tom Marsland, of disability rights charity Scope, said: “Disabled people and their families have a spending power worth £274billion a year, but too often they are an afterthought for companies.”
Which? says online retailers must make it easier for shoppers to specify delivery instructions.
In December, Ofcom unveiled plans to ensure all delivery firms have policies in place to meet the needs of disabled consumers.