Not much can shock us about Miley Cyrus' Bangerz Tour anymore. After all, the singer has gotten raunchy with a fake Bill Clinton, tongue-kissed Katy Perry (and a fan!) and is also selling 24-K gold rolling papers on the provocative tour. But during the singer's Milwaukee show last night (March 9), she surprised everyone when she walked out onstage in nothing but her underwear.

While purposely wearing a bra and panties would not be that far of a cry from her other tour costumes, in this case, the fashion faux pas was an accident. Apparently, Cyrus' costume change was so quick between songs that the 'Wrecking Ball' singer didn't have time to change costumes -- and so she came out in just a bra and panties to perform '23'.

Watch Miley Perform '23' in Her Underwear