The Birkenhead Queensway is acceptable, but is undergoing multi-million-pound improvements.
While welcoming the good assessment of Kingsway, the AA trust was less happy with the timing of improvements at other previously-tested UK tunnels.
Major refurbishments on London's Blackwall Tunnel - rated "very poor" in 2003 - will not start until November, 2006, the AA Motoring Trust said today.
The Tyne tunnel in Newcastle, also rated "poor" in 2003, is some way off getting a recommended second tunnel to separate traffic flows.
AA Motoring Trust roads and transport policy head Paul Watters said: "It is a bit of a concern. We are not doing as well they are in Europe, but we do have older tunnels."
Fourteen European tunnels were rated "good" for safety in the latest assessment. A total of 18 were rated "very good", nine "acceptable", four "poor" and four "very poor".