The 32-year-old singer wore a revealing black thong bodysuit over fishnet tights to perform a rendition of her hit 'Drunk In Love' alongside husband Jay Z, who was clad in a tuxedo.
She began the performance straddling a chair, before writhing around and dancing up to her husband.
Many parents took to Twitter to complain that the dance routine was too raunchy for children to watch.
One fan posted, "Sorry Beyonce! Class always wins. It wins for our children. Sad day when our kids can't even watch the Grammy's."
"Watching the Grammys at 8pm with my children (music lovers) performance by Beyonce and her lack of clothing very inappropriate, she's a mom?" a fan tweeted.
Last year, pop star Miley Cyrus faced intense criticism for her twerking at the Video Music Awards.