Let $X=(V\!X,E\!X)$ be an infinite, locally finite, connected graph without loops or multiple edges. We consider the edges to be oriented, and $E\!X$ is equipped with an involution which inverts the orientation. Each oriented edge is labelled by an element of a finite alphabet $\mathbfΣ$. The labelling is assumed to be deterministic: edges with the same initial (resp. terminal) vertex have distinct labels. Furthermore it is assumed that the group of label-preserving automorphisms of $X$ acts quasi-transitively. For any vertex $o$ of $X$, consider the language of all words over $\mathbfΣ$ which can be read along self-avoiding walks starting at $o$. We characterize under which conditions on the graph structure this language is regular or context-free. This is the case if and only if the graph has more than one end, and the size of all ends is $1$, or at most $2$, respectively.