Jimmy Fallon has spoken out about Madonna's appearance on his talk show, after it was heavily criticized over the singer's behavior live on air.

The Queen of Pop, 63, let loose during her interview in what fans have since dubbed as an "off the rails" appearance, which saw her flash her behind at the audience after climbing on Fallon's desk and sprawling across it.

Speaking to Fallon about her tour documentary Madame X, the singer told him: "Art is important in our lives. I don't think people emphasize that enough. I'm really inspired by James Baldwin."

"One of the things that I quote over and over again in the show is that artists are here to disturb the peace," she continued, adding that she means that "in the best way."

Watch Madonna's appearance on Jimmy Fallon's talk show here:

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While agreeing with her, Fallon said, "Yeah, you get in good trouble," quoting the late civil rights leader John Lewis' encouragement for people to get involved with "good trouble, necessary trouble."

Seconds later, to prove that she does indeed "disturb the peace," Madonna lunged forward to sprawl across Fallon's desk as a stunned Fallon said, "No no no, why would you?"

"Stop, stop, stop it. I don't know what to do," Fallon exclaimed as he tried to cover Madonna's legs with his jacket, per LA Times.

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"I like to freak you out and make you think I'm going to do something crazy," she laughed, adding his desk looked "too normal."

"Like, I just want to shove everything off of it and lay on it," she said. "Shove, shove," Fallon said, waving his hand.

"Seriously? I'll do it," Madonna replied. "Maybe later, you're expecting it now." Later in the interview she explained her belief that "artists are here to disturb the peace," before leaping onto his desk.

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"No no no! Stop it!" Fallon said frantically, as he took his jacket off to apparently shield the pop star. "I don't know what to do?"

"No one is going to see anything!" she said as she stood up, before flashing her behind at the audience.

After the singer's appearance on the talk show was critiqued on social media by outraged fans, Fallon took to Twitter to break his silence on the ordeal.

"Truly fun and peace disturbing interview with one of the world’s greatest troublemakers (in a good way) @Madonna tonight. #MadameX #FallonTonight," he tweeted.

Watch Madonna's appearance on Jimmy Fallon's talk show here:

Featured image credit: MediaPunch Inc / Alamy

Jimmy Fallon speaks out following 'peace disturbing interview' with Madonna after singer flashed audience