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Probably limited a small bit by structural strength, i.e. more acceleration means a stronger and heavier structure. For manned rockets, the G forces are even lower to accomodate the astronauts. So I'm assuming that even lower accelerations are only possible if you trade off fuel efficiency.
G-force can vary on different planets or celestial bodies. A body having a bigger mass will produce a higher gravitational field, thus resulting in higher g-forces. For example, the g-force on the Moon is about 1/6 g, and on Mars it is about 1/3 g. Humans are able to bear localized g-forces in the 100s of g's for a split second, such as a slap on the face. But continued g-forces above about 10 g can lead to permanent injury and are deadly.