The South Korean boy band performed the track on Tuesday inside of an empty mall that was filled with purple, pink and white balloons.
BTS pulled out a number of highly-choreographed dance moves and were later joined by a large group of backup dancers.
"We don't need to worry/ 'Cause when we fall, we know how to land/ Don't need to talk the talk, just walk the walk tonight/ 'Cause we don't need permission to dance," the group sings on the English-language track.
"Permission to Dance" appears on BTS' CD single for "Butter." BTS recently released a music video for the song that takes place inside a small southwestern town and features everyday people dancing.
BTS also chatted with Fallon virtually where members Jin, Suga, J-Hope, RM, Jimin and V confirmed or denied a number of common rumors about the group.
Jimin discussed his original stage name and how he almost went by Baby J.
"So I had both Baby J and Baby G as an option but when I thought about saying 'Hi, I'm Baby J,' that sounded really weird. So I just decided to go on with my real name," Jimin said.
BTS will be back on The Tonight Show Wednesday to perform "Butter."