Photos: Miley Cyrus performs in her underwear after missing costume change

Miley Cyrus during a performance of her song "23" in a concert at Milwaukee on sunday, missed a costume change and decided to perform in her underwear.

"I didn't make my quick change and I couldn't not come out for the song so I just had to run out in my undies :(" - The singer tweeted.

"Never happened to me before," she added. "But I love my fans as much as they love me! I couldn't miss '23'... show must go on." See another photo below...