Miley Cyrus Performs in Her Underwear, Says She Ran Out of Time to Change Into Costume [Photo]

Miley Cyrus believes that the show must go on—even if she hasn't had time to put her clothes on. 

During a concert in Milwaukee, Wis., Sunday evening, the 21-year-old pop singer ran out of time to change her costume in between songs and was forced to hit the stage wearing nothing but her undergarments to perform her song "23," reports E! News.

The singer then took to Twitter to explain exactly what happened.

"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," Cyrus tweeted.

The "We Can't Stop" songstress continued, "Never happened to me before. But I love my fans as much as they love me! I couldn't miss 23," adding, "Show must go on."

Two nights earlier, the provocative entertainer stirred up controversy when she decided to put her face on her backup dancer Amazon Ashley's breasts during a "Bangerz" tour stop in Illinois.

Cyrus tweeted a pic of the interaction, writing, "Love you @amazonashley67." Ashley replied, "I love @MileyCyrus having the #Timeofmylife."

Since the former Disney star kicked off her raunchy world tour in Vancouver, Canada last month, she has come under fire for a number of risque antics, including simulating a sex act on a man wearing a Bill Clinton mask, but she insists she gave fans a pre-warning that her shows would be X-rated, reports the Daily Mail.

On Twitter, she wrote, "You can't say I didn't warn you. Now sit back relax & enjoy the show. #bangerztour."