By Colette Fahy

PUBLISHED: 00:15 EST, 26 August 2013 | UPDATED: 05:08 EST, 26 August 2013

Growing up in Hollywood Jaden and Willow Smith thought they had seen it all.

But even they were shocked at Miley Cyrus’ outrageous performance at the MTV VMAs on Sunday. 

Willow, 12 and her 15-year-old brother looked horrified as the former Disney star gyrated all over Robin Thicke in an attempt to imitate his infamous Blurred Lines video.

And they weren't the only ones, with stars including Rihanna amongst the celebrities who looked unimpressed with the raunchy performance as scores took to Twitter to voice their disapproval.

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The 20-year-old singer stripped down to a tiny gold bikini, similar to the ones worn by the models in his video before shaking her pert derriere in the 36-year-old star’s face and draping herself all over him during the family friendly show.

Clearly enjoying herself, Miley’s couldn’t help her signature move of sticking out her tongue as she writhed and gyrated around the married father-of-one, who looked dapper in a black and white striped suit.

Miley continually bent over and rubbed herself against Thicke during the raunchy performance. 

However, the Smith family, including dad Will and mom Jada Pinkett Smith couldn’t hide their shock at the on stage antics and their expressions were captured by the audience cam.

Not one to shy away from a raunchy performance Rihanna looked similarly unimpressed and was also caught on camera looking unimpressed, along with her best pal Melissa, who later posted a picture of herself on Twitter which appears to have been taken during the performance. 

Behind them, clean cut boyband One Direction didn’t know what to make of it all, although Niall Horan and Zayn Malik couldn’t help their cheeky smiles as they watched. 

Stars at the event weren’t the only celebrities who found the performance hard to handle, a number of celebrities took to Twitter to hit out at Miley.

Referencing the beginning of Miley’s career as a Disney child star, Mariah Carey’s husband Nick Cannon and father of her two-year-old twins, tweeted ‘Remind me never to let my kids into showbiz …Thanks’. 

Actress Brooklyn Decker added a simple but effective ‘I’m so uncomfortable’ while Jamie King elaborated on her disgust. 

She wrote ‘A certain mortification sweeps over me when I watch certain performers’

The viewing public was also perturbed with Twitter user Savana Bee simply writing ‘uh... @MileyCyrus I'm embarrassed. #stop’ while Andrew Bevan wrote ‘Miley Cyrus Is like a functioning Amanda Bynes’.

Dana Alexa was worried about Miley’s young fans, tweeting ‘Miley Cyrus looks like a stripper.. And a bad one at that #disgrace --I hope young girls find someone with a little more class to look up to.’

Before her duet with Robin, Miley hit the stage dressed in a teddy bear inspired strapless leotard to sing We Can’t Stop. 

She was joined by a host of backing dancers wearing giant teddybears, giving the impression the toys had come to life to dance with her.

However, Miley may have been upset at the criticism as she left before the show ended.

She tweeted 'Leaving the VMAs. No it's not over. I'm no psychic but congrats @OneDirection #songof thesummer'

Even upon arrival at the Barclays Center in Brooklyn, Miley made sure all eyes were on her as she danced her way down the red carpet in front of screaming fans.

While she’s famous for her twerking skills, the Can’t Be Tamed singer decided to try out some new moves for her audience. 

If Miley’s dancing wasn’t guaranteed to get the attention of the crowd, her outfit certainly did, as she stepped out in a bejeweled, vintage Dolce & Gabbana ensemble consisting of a crop top, which showed off her washboard abs, and matching pants. 

She finished off with Lorraine Schwartz jewels and black Mary Jane peep-toes.

Cyrus’ blonde hair was pulled back in her new favourite style, two mini buns, and she opted for dramatic red lipstick to complete the daring look.