Miley, 20, took to the stage alongside Robin for a saucy rendition of 'Blurred Lines' after performing her own single 'We Can't Stop' on Sunday night (25 August), and she stunned the crowd by stripping down to a skin-coloured rubber bralet and pants.
The former Disney star - who had her hair styled into two small buns - twerked her way through the song, gyrating up against married dad-of-one Robin and repeatedly sticking her tongue out.
But it seems her performance was a bit too much for some, including actress Brooke Shields - who played Miley's on-screen mother in TV series Hannah Montana.
Speaking on America's Today show, Brooke said: "I was Hannah Montana's mother! Where did I go wrong?"
She then added: "I just want to know who's advising her, and why [the racy display] is necessary. I feel like it's a bit desperate."
Nick Cannon, who is married to Mariah Carey, meanwhile tweeted: "Remind me to never let my kids into showbiz... thanks."
After watching the VMAs, Kelly Clarkson also said: "Just saw a couple performances from the VMA's last night. 2 words.... #pitchystrippers."
But former American Idol winner Adam Lambert has defended Miley, saying: "Listen if it wasn't ur cup of tea. She's doin' something right. We all talkin'."
Miley, meanwhile, has not commented on her performance.