The 'Take That star' was performing new single 'Candy' when he was joined by a group of naked models. Only skin-coloured thongs and strategically placed arms covered their modesty, reported Sun Online.
However the 38-year-old seemed unfazed by his companions and danced with the brunettes. Williams was dressed in a grey shirt and waistcoat.
The singer, who has recently become a father, had said he was terrified when his daughter's umbilical cord got caught around her neck during birth.
The singer also said the experience was hugely frightening for himself and his wife Ayda Field but he managed to keep his cool and cut Theodora's cord.