Miley Cyrus was forced into performing a song at one of her recent concerts in her underwear after a wardrobe change failed to happen on time.

The singer is currently taking her Bangerz tour around North America and she took to the stage in Milwaukee on Sunday (March 9).

However, she was spotted wearing just some skimpy underwear during the song '23'.

Whilst some believed this to be just part of Cyrus's often controversial and revealing stage show, the singer later took to Twitter to say:

"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."

Cyrus added: "Show must go on."