Let
$X$,
$Y$ be nonsingular real algebraic sets. A map
$\varphi \colon X \to Y$ is said to be
$k$-regulous, where
$k$ is a nonnegative integer, if it is of class
$\mathcal {C}^k$ and the restriction of
$\varphi$ to some Zariski open dense subset of
$X$ is a regular map. Assuming that
$Y$ is uniformly rational, and
$k \geq 1$, we prove that a
$\mathcal {C}^{\infty }$ map
$f \colon X \to Y$ can be approximated by
$k$-regulous maps in the
$\mathcal {C}^k$ topology if and only if
$f$ is homotopic to a
$k$-regulous map. The class of uniformly rational real algebraic varieties includes spheres, Grassmannians and rational nonsingular surfaces, and is stable under blowing up nonsingular centers. Furthermore, taking
$Y=\mathbb {S}^p$ (the unit
$p$-dimensional sphere), we obtain several new results on approximation of
$\mathcal {C}^{\infty }$ maps from
$X$ into
$\mathbb {S}^p$ by
$k$-regulous maps in the
$\mathcal {C}^k$ topology, for
$k \geq 0$.