The singer tweeted about the incident after her concert and said, "Not a new outfit for 23. 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 :(."
Cyrus continued, "Never happened to me before. But I love my fans as much as they love me! I couldn't miss 23."
She finished by saying that the "Show must go on :(."
Show must go on :(— Miley Ray Cyrus (@MileyCyrus) March 10, 2014
A fan video from Cyrus's Oakland concert in February shows that the singer intended to wear a pair of cutout chaps in addition to her underwear.
2014: NFL Cheerleaders [PHOTOS]