Beyonce gyrated in a sparkly gold bodysuit as Jay Z looks on.

Beyonce has given fans a sneak peek of her The Mrs. Carter Show World Tour.

The singer posted a series of on stage pictures of her performing her racy dance numbers along with her husband Jay-Z.

The singer put in an energetic performance as she took to the stage of the 02.

The 32-year-old posted several black and white and colour stills to her website, featuring her wearing a shimmering corset, a figure-hugging gold body suit, balancing on top of a chaise lounge in a seductive pose, gyrating as Jay-Z looks on admiringly and in tender embrace with her husband.

Beyonce has been criticised for her racy on stage antics.

She also reveals a change of costume as she dons a cap, a flannel shirt, and briefs for another track.

The mother of one appears to show no signs of toning down her risqué routines, despite being on the receiving end of criticism from parents for her x-rated performance at the Grammys.

The singer reached out to her fans at the concert.

The star was seen twerking while wearing a revealing black thong bodysuit over fishnet tights to perform a rendition of her hit Drunk In Love alongside her 44-year-old husband, who was seen getting hands on with the star.

The singer was joined on stage by husband Jay-Z for a performance of Drunk in Love.

Parents said the performance should have been broadcast after the 9pm watershed, deeming the raunchy routine too explicit for children to watch.

Actress Garcelle Beauvais waded into the debate calling the tour "too overt."

Beyonce shared the stage with her husband Jay z.

Miley Cyrus recently came under fire from angry parents who described her show as a "porn show."

The Mrs. Carter Show World Tour was number two on Pollstar's 2013 Top 20 Worldwide Tours list, ranking behind Bon Jovi and making hers the highest grossing female tour of 2013.

The two stars share a tender embrace at the end of the song.