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25 June 2012, 13:20 | Updated: 25 June 2012, 13:22
The '2 Hearts' star also criticises the Queen Of Pop's current cheerleading costumes.
Kylie Minogue said she believes people were left "perplexed" when Madonna revealed her nipple during a concert in Turkey.
The incident took place earlier this month during the star's 'MDNA' tour and made headlines around the world.
"Was she caught up in the moment? Was it premeditated? Who knows," Kylie said during an interview on E! hosted by Joan Rivers.
"I think it's got people more perplexed than excited by it."
Kylie also criticised Madonna's cheerleading costume, which she debuted in her 'Give Me All Your Luvin'' video and has also been wearing on tour.
"No. Just no," she replied when show a picture of the star wearing the outfit.
Madonna flashes her nipple during a performance in Istanbul, Turkey:
But Kylie did admit that she had grown up as a fan of Madonna and that it was "quite good" when they were mentioned in the same sentence.
Meanwhile, Kylie premiered her new single 'Timebomb' earlier this summer ahead of the release of a new Best Of collection.