She did so while rocking a very racy Gucci dress with a daring leg slit that climbed to her waist.
But now the singer, 31 — who is now a two-time Grammy winner — is insisting that it was only a joke.
Miley took to X (formerly Twitter) on Monday to write: ‘PS I was only kidding…. I had on matching custom @gucci panties [HEART-EMOJI]’
She then thanked Gucci’s creative director Sabato De Sarno for the ‘head to toe chocolate custom couture’ that’s earned her a ton of attention online.
In the same X post, Miley fawned over Mariah Carey, Meryl Streep and Mark Ronson — the trio of stars who presented her with her first-ever Grammys on Sunday night.
She included photos from the show that showed Meryl handing Miley her Record Of The Year trophy as well as Miley hugging her team, who joined her on stage.
She wrote that the third photo in her post ‘sums up’ her relationship with her Flowers co-writer Michael Pollack and producers Kid Harpoon and Tyler Johnson ‘perfectly.’
The image showed Miley in front of the mic accepting their award while Pollack, Harpoon and Johnson stood idly behind her.
‘You 3 wanting me to do all the talking until I start talking….’ she teased.
Miley was one of the biggest winners of the night as she earned the coveted Record Of The Year and Best Pop Solo Performance for her hit track Flowers.
Along with setting social media ablaze with her underwear joke, Miley also got fans talking about her father Billy Ray Cyrus, who she left out of her Record Of The Year acceptance speech.
”This award is amazing,’ she began. ‘But I really hope that it doesn’t change anything because my life was beautiful yesterday. Not everyone in the world will get a Grammy, but everyone in this world is spectacular…
‘So please don’t think that this is important, even though it’s very important, right guys? ‘[I want to thank] everyone that’s standing on this stage right now Tom, Tyler, Michael and Greg…
‘Our teams, my team, Crush, Columbia, my mommy, my sister, my love, my main gays because look how good I look…
Anyone else? Your wife, your fiancée, all the people that we love. Thank you all so much. I don’t think I forgot anyone. But I might have forgotten underwear. Bye!’
Fans soon flooded Twitter to note the dismissal, writing: ‘Miley really don’t [f**k with] her dad LMAOO… I knew the dad cheated on her mother but I didn’t know the new wife was Miley’s age…
‘I just googled and the new wife met Billy Ray when she auditioned for a part on Hannah Montana. No wonder Miley don’t fuck with him. Creep and weirdo!…
‘Miley thanking everyone in her family by name except her dad and then saying ‘i don’t think ive forgotten anyone’ is iconic im sorry… Miley don’t like her dad?… miley not thanking her dad,,, i’m perfectly normal about this…
‘Did…did Miley purposely not mention her dad? Did I miss that? #GRAMMYs… Nope, it’s bc of Miley’s dad and his 20 yr old wife lmao. Miley doesn’t rock w/ him at all anymore and is closer to her mom now…
‘MILEY NOT THANKING HER DAD IS SO ???? lmao… Miley not thanking her dad is kinda real of her then saying she didn’t forget anyone except her underwear she is CRAZY i love her… Miley and her dad are defo beefing!…
‘Miley deliberately leave out her dad in her thank you speech ???’
In October, Bill Ray officially tied the knot with Australian singer, Firerose, during an ‘ethereal celebration of love’ and shared images taken on the special day.
The Achy Breaky Heart hitmaker said ‘I do’ to the songstress, 34, just two months after his ex-wife and Miley’s mum, Tish, married Prison Break star, Dominic Purcell in August.
Billy was previously married to Tish Cyrus from 1993 until she filed for divorce last year in April 2022 and cited ‘irreconcilable differences’ with their date of separation taking place two years earlier.
The pair had ups and downs throughout the relationship, with the singer filing for divorce 2010 – which was dropped. Tish also previously filed in 2013 – but that had also been dropped.
They share children: Miley, 30, Noah, 24, Braison, 29, and also Brandi, 36, and Trace, 34. He adopted Brandi and Trace from Tish’s previous relationship and also shares son Christopher, 31, with his ex, Kristin Luckey.
Fans alleged that the omission from the speech was due to issues over his marriage.
Last August, while appearing on ABC show Endless Summer Vacation: Continued (Backyard Sessions) Miley spoke of her father, saying: ‘I grew up on a sound stage, in a house with a family that was super close and all lived under the same roof…
‘And I grew up financially stable and emotionally stable, I think in my relationships also. And that’s something that my dad didn’t have. I’ve seen how that affects a lot of people that go from having nothing to everything. It’s a really dangerous place.’
The star’s shining moment came toward the end of the night as she beat out an impressive field for Record Of The Year including: Billie Eilish – What Was I Made For?, Boygenius – Not Strong Enough, Jon Batiste – Worship Olivia Rodrigo – Vampire, SZA – Kill Bill, Taylor Swift – Anti-Hero, and Victoria Monét – On My Mama.
Earlier in the night Miley shocked as she beat out Taylor Swift to earn the first Grammy Award of the night which also happened to be her first ever win.
The Wrecking Ball singer triumphed in the Best Pop Solo Performance category for her hit track Flowers which was announced by fellow music megastar Mariah Carey.
She beat out the aforementioned Taylor who was nominated for Anti-Hero along with Billie Eilish – What Was I Made For? [From the Motion Picture ‘Barbie’], Doja Cat – Paint the Town Red, and Olivia Rodrigo – Vampire.
