The 'Wrecking Ball' hitmaker was joined by the pop legend at the recording of her MTV 'Unplugged' special at the Sunset Gower Studios in Los Angeles last night (28.01.14) and they performed a mash-up of 'Don't Tell Me' and 'We Can't Stop'.
The pair donned cowgirl uniforms for the raunchy performance, which saw them grind and dirty dance on one another as they shared lyrical duties.
Afterwards, Miley said: ''That was pretty f***ing cool you guys. It was one of those days that was pretty easy to get out of bed. I get to perform with Madonna in bedazzled cowboy boots. I can't really complain about anything.''
Earlier in the evening, the 21-year-old star joked MTV had been ''brave'' in giving her the show, which saw her backed by a full band including string section.
She said: ''I can't believe you let me of all people do an 'Unplugged'. That was brave.''
Miley also shared a number of jokes with her audience, at one point claiming she was headed to a strip club after the show.
She joked: ''MTV's paying me today in ones so we can all go to the strip club after this.''
And the 'Bangerz' star - who split from fiancé Liam Hemsworth last year - also found the time to get serious.
Introducing a stripped-down version of 'Wrecking Ball', she said: ''I think everyone knows what it's like to feel their life crumbling down.''
Miley's MTV 'Unplugged' special airs in the US tonight (29.01.14).
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