Wearing just a latex nude-coloured bra and pants, Miley Cyrus took to the stage to perform her hit single ‘We Can’t Stop’ before joining Robin Thicke for a duet of ‘Blurred Lines’.

The 20-year-old shocked viewers as she bent down and twerked in front of Robin Thicke’s crotch on the stage.

Clearly enjoying herself, Miley showed off her signature move of sticking her tounge out as she writhed and gyrated around the married dad of one, who wore a black and white striped suit to perform his number one single.

Viewers were less than impressed, with some taking to Twitter to express their disgust:

‘Miley Cyrus completely embarrassing herself at the #VMA awards. Jesus have some self respect, there’s called being sexy, then just darn ugly.’

Another wrote:

‘Miley Cyrus that was disturbing’.

And it wasn’t just those watching at home that were left unimpressed by the raunchy performance.

Jaden Smith, 15, and his 12-year-old sister Willow, who were sat in the audience alongside parents Will and Jada Pinkett Smith, appeared to be horrified as the former Disney star imitated Thicke’s infamous ‘Blurred Lines’ video.

America’s Got Talent host Nick Cannon, who is married to Mariah Carey and is a father of two-year-old twins, couldn’t hold back with his reaction, writing:

‘Remind me never to let my kids into showbiz…Thanks’.

Miley, who has been accused of alienating her younger fans with her new image, has yet to comment on her performance.