The former Destiny's Child singer was performing her hit Motivation in New Jersey when her dancing dislodged her raunchy top.
The black bra rode up , exposing her nipple (see below) - but Kelly seemed oblivious as she carried on performing at Club 4Sixty6 in West Orange.
At least the 30-year-old's embarrassing moment was not being broadcast live on television - unlike when Nicki Minaj suffered a similar wardrobe malfunction while performing on Good Morning America last week.
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