Miley is currently in the UK as part of her 'Bangerz World Tour' and performed at the O2 Arena in an array of daring costumes last night.
Stars including Lily Allen and Nick Grimshaw were in the audience to watch Miley and couldn't stop gushing about her after the show had finished.
"That was basically the best thing I've ever seen #BangerzTour #MileyCyrus," Lily said.
In fact, Lily was so dedicated to get there that she jumped on the back of a motorbike after touching down at London Heathrow, following a flight from New York.
Singer Lily, who was in NYC to attend the Met Gala Ball shared a (rather dangerous looking!) selfie from the bike and tweeted: "Headed to @MileyCyrus." Let's hope the bike wasn't really moving at the time!
Surprisingly, Pixie Geldof was also at the concert. It was her first public appearance following her sister Peaches' death last month.
During her show, Miley dons a very high cut leotard covered in dollar bills and writhes around raunchily on the roof of a car. She also slides down a giant tongue.
Last night was no exception, and Miley pretty much let it all hang out as she played up to the audience. At one point, she even reportedly encouraged the crowd to kiss someone of the same sex and we hear her language was rather colourful too.
Captial FM DJ Dave Berry was at the concert and, afterwards, tweeted: "It was a pleasure to bang @MileyCyrus last night."
Meanwhile, ahead of her show, Miley enjoyed a sightseeing trip in London, visiting landmarks such as Trafalgar Square.
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