Madonna writhes on stage with topless dancers in her most daring performance yet

Madonna certainly gave her fans a performance to remember on Sunday after she kicked off her World Celebration Tour in London this weekend.

The Queen of Pop, left little to the imagination as she slipped into satin lingerie and she frolicked around on stage.

Her racy red mini dress featured a black lace trim and showcased her youthful figure in all its glory.

Madonna, 65, wasn’t alone with the eye-popping on-stage display as she was joined by a whole host of topless dancers.

Later on the show, she transformed herself into a monk, wearing a hooded robe before removing it to unveil a skimpy black mini-dress with a huge diamond necklace.

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For those who missed out on the chance to see the iconic singer perform in her return after her ICU dash earlier this year, she took to Instagram to give fans an insight into what went on during her opening show.

Along with a series of clips from the night, Madonna gushed: Thank you LONDON! Opening Night! An Evening I will never forget. GB,” in her caption.

Fans were quick to flood the star’s comment section as they praised her on her breathtaking performance.

While famous fan Michelle Visage, who appears to be attending one of Madonna’s shows later this year, excitedly penned: “CAN’T WAIIIIITTTTT FOR DECEMBER [sic].”

Aside from performing next to topless dancers, the singer also took to the stage alongside her 17-year-old daughter Mercy James.

The mother-daughter duo put on a wholesome performance as Mercy showcased her own musical talent playing the haunting instrumental to her mother’s iconic hit Bad Girl on a grand piano.

There seemed to be a family affair throughout the show as Madonna was also accompanied by her 10-year-old daughter Estere, who strutted her stuff down the runway to a mashup to one of her mom’s biggest hits, Vogue.

Madonna’s eldest daughter Lourdes, 27, also made an appearance on stage, as she busted some moves with her popstar mom.

But some fans were left angry and claimed they hadn’t got what they were expecting from the tour with the Material Girl having to apologise at one point.