Miley Cyrus has finally spoken out to defend her controversial MTV VMA performance, saying she knew she was making history with Robin Thicke.

The former Disney star raised eyebrows at the awards ceremony last month as she Twerked on the 36-year-old's crotch and used a foam finger suggestively as the pair performed his hit 'Blurred Lines'.

miley cyrus robin thicke

Miley Cyrus and Robin Thicke performing at the VMAs

Talking for a new MTV documentary following the event, Miley said: "Me and Robin the whole time said, 'You know we're about to make history right now.'

"What's amazing is I think now, we're three days later and people are still talking about it. They're overthinking it," she exclaims.

"You're thinking about it more than I thought about it when I did it. Like, I didn't even think about it 'cause that's just me!"

miley cyrus robin thicke

Miley caused controversy with her performance

She also said she wanted to follow in the footsteps of previous pop greats, who have shocked with provocative VMA moments.

"Madonna's done it. Britney's done it. Every VMA performance, that's what you're looking for; you're wanting to make history."

She added: "I don't pay attention to the negative because I've seen this play out so many times," she says of her many, many detractors, "How many times have we seen this play out in pop music?"

Lady Gaga - who also performed at the VMAs - also recently defended Miley from the criticism.

She told The Sun: "I don't like to pass judgment on Miley Cyrus. Generally, people need to lighten up about pop music - it's about entertainment.

"It [pop music] is here to make you smile and make you happy. Especially in America, there is an excessive dragging of female artists, and I don't want to contribute to that."

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  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Robin Thicke and Miley Cyrus perform during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Kevin Mazur/WireImage for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Miley Cyrus performs during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Kevin Mazur/WireImage for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Miley Cyrus performs during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Jeff Kravitz/FilmMagic for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Robin Thicke and Miley Cyrus perform during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Kevin Mazur/WireImage for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Robin Thicke and Miley Cyrus perform during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Jeff Kravitz/FilmMagic for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Robin Thicke and Miley Cyrus perform bonstage during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Jemal Countess/FilmMagic)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Robin Thicke and Miley Cyrus perform bonstage during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Jeff Kravitz/FilmMagic for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Miley Cyrus performs during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Jeff Kravitz/FilmMagic for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Miley Cyrus performs performs during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Michael Loccisano/FilmMagic)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Miley Cyrus performs during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Jeff Kravitz/FilmMagic for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Miley Cyrus performs during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Jeff Kravitz/FilmMagic for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Miley Cyrus performs during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Jeff Kravitz/FilmMagic for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Robin Thicke and Miley Cyrus perform during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Jemal Countess/FilmMagic)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Robin Thicke and Miley Cyrus perform during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Jemal Countess/FilmMagic)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Robin Thicke and Miley Cyrus perform during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Jemal Countess/FilmMagic)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Robin Thicke and Miley Cyrus perform during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Jemal Countess/FilmMagic)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Miley Cyrus performs during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Jemal Countess/FilmMagic)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Miley Cyrus performs during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Jemal Countess/FilmMagic)

  • 2013 MTV Video Music Awards - Backstage

    NEW YORK, NY - AUGUST 25: (EXCLUSIVE COVERAGE) Miley Cyrus attends the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Larry Busacca/Getty Images for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Robin Thicke and Miley Cyrus perform during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Kevin Mazur/WireImage for MTV)

  • 2013 MTV Video Music Awards - Backstage

    NEW YORK, NY - AUGUST 25: (EXCLUSIVE COVERAGE) Miley Cyrus attends the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Jeff Kravitz/FilmMagic for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Miley Cyrus performs onstage during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Rick Diamond/Getty Images for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Miley Cyrus performs during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Kevin Mazur/WireImage for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Miley Cyrus performs during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Kevin Mazur/WireImage for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Miley Cyrus performs during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Kevin Mazur/WireImage for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Robin Thicke and Miley Cyrus perform during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Kevin Mazur/WireImage for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Robin Thicke and Miley Cyrus perform during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Jeff Kravitz/FilmMagic for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Miley Cyrus and Robin Thicke performs onstage during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Neilson Barnard/Getty Images for MTV)

  • 2013 MTV Video Music Awards - Backstage

    NEW YORK, NY - AUGUST 25: (EXCLUSIVE COVERAGE) Robin Thicke and Miley Cyrus attend the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Larry Busacca/Getty Images for MTV)

  • 2013 MTV Video Music Awards - Show

    NEW YORK, NY - AUGUST 25: Miley Cyrus performs during the 2013 MTV Video Music Awards at the Barclays Center on August 25, 2013 in the Brooklyn borough of New York City. (Photo by Kevin Mazur/WireImage for MTV)

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