In a show broadcast to millions, the reigning Queen of Pop appeared on stage in a barely-there leotard over a sheer black body stocking and structured corset.
Flicking her damp hair in a series of provocative dance moves, the singer was joined on stage by her husband, Jay-Z, for part of the performance.
The pair cavorted in a sensual manner and shared a tender kiss in front of the screaming live audience - but not everyone was happy about the risqué routine.
The show aired in a prime-time slot on US television and during its broadcast, many viewers took to social media, comparing Bey’s dancing with Miley Cyrus’s infamous twerking at the VMA’s.
While Beyoncé is often held up as symbol of female empowerment and looked up to by little girls the world over, some concerned parents chose to share their shock about her salacious recital on social media.
“#Grammys2014 total shame from #BeyonceAtGrammys… parents we have to think twice about watching the #Oscars live with the kids” tweeted one upset viewer.
“#BeyonceAtGrammys Beyoncé REALLY?? Wow disappointed in your lack of taste. Did your daughter see you” another user commented.
But while some found the performance “tasteless” and “pornographic” many thought that the singer was simply cementing her reputation as a strong and progressive female performer.
Grammy viewers were very vocal about their appreciation for the artist, including many celebs sitting in the audience.
“BEYONCE you aren't even a woman anymore you are the world and you are the lord … When Beyonce giggles un-self consiously in front of the whole music industry it's pretty clear she's surpassed the earthly plane,” tweeted GIRLS creator, Lena Dunham.
“Beyoncé is sexxxy! @Davidburtka said, 'She could turn a gay man straight!' Now I'm worried ...” wrote openly gay actor, Neil Patrick Harris about his partner's reaction to the show.
Beyoncé has previously discussed her philosophies about balancing being a mother to her two-year-old daughter, Blue Ivy, and being a sexy performer.
“I don't at all have any shame about being sexual and I'm not embarrassed about it and I don't feel like I have to protect that side of me because I do believe that sexuality is a power that we all have,” said the singer in a behind the scenes interview for her recent self-titled album.
“You can have your child and you can still have fun and still be sexy and still have dreams and still live for yourself.”