The mother-of-one hit the stage in a sheer bodysuit and wet hair, performing a racy chair dance before she was joined on stage by her husband.
The couple shared an onstage kiss. He caressed her famous derriere, while she ran her hands up and down his pant legs. Both then showed off their "surfboard" dance moves.
Some viewers labeled the performance too hot for television.
"Beyonce seriously? It's 8:00. That performance was NOT appropriate for children. Thank God mine are in bed. #shameonyou," Theresa Bailey wrote on Twitter.
Others drew comparisons to Miley Cyrus.
"Beyonce can twerk and dance dirty on stage [but] if Miley does it she's such a horrible person," Twitter user Clarkette wrote.
Still others defended Beyonce's performance, pointing out that while Cyrus twerked on a married man, Robin Thicke, at the MTV VMA's, Beyonce was doing a sexy dance for her husband.
In a mini-documentary made with the release of her secret self-titled album, Beyonce talked about the pride she felt in showing off her post-baby body and sensuality.
"I worked crazily to get my body back," she said. "I wanted to show my body. I know finding my sensuality, getting back into my body, being proud of growing up, it was important to me, because I know there are so many women that feel the same thing after they give birth."
"You can have your child, and you can still have fun and still be sexy and still have dreams and live for yourself," the superstar said.
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