Pop star Miley Cyrus has spoken out for the first time since her racy performance at the MTV Video Music Awards last week.

The 20-year-old former Disney star had sparked controversy after she slipped into a nude-shade plastic bikini and performed a duet of Blurred Lines with Robin Thicke. She also placed a foam finger on her private parts as well as his.

"Me and Robin [Thicke,] the whole time said, 'You know we're about to make history right now,'" she said in her interview with MTV.

The raunchy routine was the most talked about incident from the show, reportedly drawing 306,000 tweets per minute.

"What's amazing is I think now, we're three days later and people are still talking about it. They're over thinking it," Cyrus added, "You're thinking about it more than I thought about it when I did it. Like, I didn't even think about it 'cause that's just me."

Cyrus' performance attracted criticism from several quarters, including from the person who invented the foam finger, who claimed that the Party in the USA singer "degraded an honorable icon".

"I don't pay attention to the negative because I've seen this play out so many times. How many times have we seen this play out in pop music?" she questioned.

"Madonna's done it. Britney's done it. Every VMA performance, that's what you're looking for; you're wanting to make history," she added.

However, her fiancé Australian actor Liam Hemsworth was reportedly left mortified seeing her segment.

"Liam really does care about Miley, but her racy new look and sort of ghetto attitude isn't exactly what he signed up for," a friend close to the actor told Radar Online, "Her VMA performance absolutely mortified him and he couldn't be more embarrassed. He doesn't really see anything sexy about what she did on stage."