Looking fab, but slightly underdressed, Miley wowed in a teeny-tiny silver sequin leotard, which featured a bottom-baring G-string style behind.
She gyrated over the rubber male 'member' of her of entourage, and even knelt on the floor and licked it.
According to the Daily Mail, Miley Cyrus recently said London was her favourite place to perform.
She said: "I have never seen more gay people in my whole life.
"When I go to London that's what it is. I feel like they are so much more open, much more than here in the US where they're feeling trapped, where it's like, "Can I even say I believe in gay marriage?
"Can I say that my favorite fans are my gay fans?" Am I allowed to say that? Because half of America is still against it."
We're sure, espeically after this performance, that they love you, too, Miley.
The singer is currently on her Bangerz tour, which finishes on 14 August.
LOVE MILEY'S ON-STAGE ANTICS? Check out all the pics from her Bangerz tour in our gallery below:
Miley loves making headlines - see another racy story from the singer below: