Outspoken rocker Amanda Palmer has defended Miley Cyrus over her naked antics, insisting the former child star should be given an "allowance" to explore her raunchy side.

The former Hannah Montana actress has attracted criticism after stripping naked save for a pair of boots in the video to her new track Wrecking Ball.

The promo premiered just weeks after she was slammed for donning latex underwear for a raunchy performance with Robin Thicke at the MTV Video Music Awards, but Palmer is adamant critics should leave the singer alone.

Giving a speech at Australia's Bigsound music conference, Palmer says, "Let her be. There has to be an allowance for that, otherwise art becomes safe and sanctioned. And it shouldn't be."