The "Wrecking Ball" crooner later changed into a bedazzled denim ensemble and belted out most of the songs featured in Bangerz, her latest album. She also covered Parton's "Jolene" and closed the show with a mashup of "We Can't Stop" and "Don't Tell Me" alongside Madonna herself.
"That was pretty [expletive] cool, you guys," Cyrus told the crowd after her last song. "It sounds super lame, but as a pop star it's pretty cool performing with Madonna. Today was one of those days that was pretty easy to get out of bed. I get to perform with Madonna in bedazzled cowboy boots. I can't really complain about anything. Well, I can't perform when I'm stoned. That's one thing to complain about, I guess."
You can watch all the clips, or the entire performance here.