The 28-year-old star has given her close friend some words of advice following her racy appearance with Robin Thicke at the VMAs on Sunday (25.06.13) which featured her 'twerking' and grinding against Robin during their rendition of his hit 'Blurred Lines'.
Miley, 20, also repeatedly licked her lips as she danced in a two-piece, flesh coloured latex bikini and rubbed herself suggestively with a foam finger.
During a special episode of 'Fashion Police' which aired on Monday night (26.08.13), Kelly's co-stars, including Joan Rivers, criticised Miley's risque appearance - which left many famous faces in the audience at the VMAs, such as Taylor Swift, Will Smith and One Direction star Niall Horan, stunned.
Kelly insisted she loved her pal before offering her words of wisdom, saying: ''I look at the performance and yes, I do have a lot of the same opinions as you guys about it ... Look Miley's my friend and I love her, and I have her back no matter what, but as her friend I'm going to tell her - put your f***ing tongue in your mouth! I love you, but just put your tongue in your mouth.''
But Kelly did like the vintage, black and jewel Dolce & Gabbana separates that Miley, 20, wore on the red carpet and the bikini she gyrated in on stage.
Kelly said: ''We're not talking about her performance, we're talking about what she's wearing ... It's not that original (the bikini) but I do appreciate its reminiscent of the 'Blurred Lines' music video.''