Miley Cyrus performed in her underwear after missing her costume change during a gig.

The 'Wrecking Ball' hitmaker was forced to run on stage at the BMO Harris Bradley Centre in her ''undies'' to make sure fans didn't miss out on single '23' when she was in Milwaukee, Wisconsin as part of her 'Bangerz Tour' yesterday (09.03.14).

Miley posted a string of messages on Twitter, she wrote: ''not a new outfit for 23 I didn't make my quick change and I couldn't not come out for the song so I just had to run out in my undies :(

''Never happened to me before. But I love my fans as much as they love me! I couldn't miss 23

''Show must go on :( (sic)''

Miley kicked off her raunchy world tour in Vancouver, Canada, last month and came under fire for antics such as simulating a sex act on a man wearing a Bill Clinton mask, but she insists she gave fans a pre-warning her shows would be X-rated.

She previously wrote on Twitter: ''You can't say I didn't warn you. Now sit back relax & enjoy the show. #bangerztour (sic)''

The blonde beauty will next take to the stage in St. Paul, Minnesota tonight (10.03.14), while she's on the US leg of her tour, before heading to Canadian cities of Montreal and Toronto at the end of the month.