Miley Cyrus performs in her underwear after missing costume change

Miley Cyrus had to perform in her underwear during a gig in Wisconsin on Sunday night (09Mar14) after missing her allotted costume change.

The singer ran out of time while changing backstage during her Bangerz show in Milwaukee, so she kept the concert on schedule by abandoning her costume and taking to the stage in just her underwear.

Cyrus was pictured performing her track 23 in skimpy red and black striped lingerie, and later took to Twitter.com to explain her attire.

She writes, "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."