Public transport users have been warned about offensive behaviour after a female passenger stripped naked on a bus.

Dumbfounded commuters watched as she performed a pole dance, with the bizarre act captured by security cameras.

The woman boarded the bus to Bondi Junction and sat down with a friend before getting up to perform an impromptu strip show.

After completing the performance she asks bemused passengers for a donation.

Camera Icon The woman talks to the bus driver while getting dressed after her performance. Credit: Seven News.

The driver contacted his base to report the unusual incident before the woman dressed and wrapped herself in a shawl before getting off at the next stop.

The woman has not been identified and escaped being charged but the trip did cost her extra because, in all the excitement, she forgot to tap off.

The show did not impress NSW Transport Minister Andrew Constance.

"People should just get on board, behave, and get off. You know, it's that simple,” he said.

"They don't need people behaving like clowns on their buses."