The former Pussycat Doll and X Factor judge, 36, took to the stage in a sch-mazing pair of animal print sequin hot pants that left very little to the imagination!
Showing off her killer legs and toned midriff, Nicole teamed the eye-catching shorts with fishnet tights and a mesh crop top over a black bra. Swit swoo!
The gorgeous singer then gave the crowd exactly what they were hoping for - an energetic performance with plenty of sexy moves and even some twerking.
And the crowd went wild when Nicole performed her brand new single 'Your Love', released today (13 July).
Before her appearance, Nicole tweeted: "Performing at G-A-Y tonight! Going to be a crazy show!! Can't wait."
She recently admitted that although she might act all "balls to the wall" on camera, she isn't at all like that off stage...
In an interview with Cosmopolitan, she said: "I get past my shyness by making everything about others and not thinking about myself. That's what I did on The X Factor - I can be goofy and playful when it's about the acts. But when I'm off stage I'm not as big and animated."
She also revealed she has battled bulimia, describing how the disorder "robbed her of living her life".
Nicole is dating Formula One racing driver Lewis Hamilton.
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Watch the official video to Nicole Scherzinger's new single 'Your Love':