Fashion Police co-host Kelly shared the photo with her Instagram followers last night (26 August).
Both sporting short hair and quiffs, Miley can be seen grabbing hold of Kelly's chin before giving her a kiss on the cheek.
Kelly simply said: "Kisses from @mileycyrus!"
Kelly made the most of her evening too, and ended up going on a selfie spree after sharing photos of herself with rappers 50 Cent and Wiz Khalifa on set.
Kelly, Miley, 50 and Wiz joined the likes of Jennifer Aniston, Ellen DeGeneres, Sandra Bullock, Gwen Stefani and Gerard Butler on stage to say goodbye to Chelsea Handler's long-running E! chat show.
Chelsea Lately had aired on E! for seven years, and a new deal will see Chelsea move her act to Netflix, with a new late-night chat show expected in 2016.
Apart from the all-star farewell song at the end of the show, during the episode, Miley also performed a solo rendition of Roy Orbison's 'It's Over'.
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Watch Miley's video for 'Adore You' below: