Sydney transport chiefs have issued a warning against offensive behaviour after a female passenger stripped naked on a cross-city bus.

Passengers watched dumbfounded as she performed a pole dance, with the entire thing captured on security video.

It happened on the 352 from Marrickville to Bondi Junction.

The woman and a friend boarded on Cleveland Street in Chippendale, sat down and behaved themselves for a while.

View photos Passengers on this bus got an impromptu naked performance they weren’t expecting. Source: 7News More

Then one stands up, strips completely, and launches into an impromptu pole dance, asking bemused passengers for a donation.

One person tells the driver, who alerts radio control.

The woman eventually slips into something more respectable before wrapping herself in a shawl and hopping off the bus.

Not everyone was impressed with the performance.

View photos The woman eventually slips into something more respectable before wrapping herself in a shawl and hopping off the bus. Source: 7News More

“People should just get on board, behave, and get off,” NSW Transport Minister Andrew Constance said.

“You know, it’s that simple.”

The woman disappeared without trace and has not been found.

But her performance did cost her – in all the excitement she forgot to tap off.