Road Traffic Act 1988, Section 40A:
Using vehicle in dangerous condition etc.
A person is guilty of an offence if he uses, or causes or permits another to use, a motor vehicle or trailer on a road when—
(a)the condition of the motor vehicle or trailer, or of its accessories or equipment...
is such that the use of the motor vehicle or trailer involves a danger of injury to any person.
It could be argued that the lack of pedal rubbers on the clutch and brake pedals do pose such a threat. If your car is given the once over by a police vehicle inspector you may find yourself on the end of a fixed penalty or prosecution. The maximum penalty for the offence is a fine of £2,500. The offence is endorseable with a minimum of three penalty points.