The singer and dancer was appearing on the BBC series, via video link, to talk about her new single.
Cabello was asked to showcase her favourite dance move featured in the video for Ed Sheeran collaboration “Bam Bam” when the moment occurred.
Standing up to show off the move, Cabello adjusted her shirt, which led to her accidentally flashing her boob.
Comedian Alan Carr, who was in the studio as the episode’s other guest, clasped his hand to his mouth in surprise.
Cabello, 25, took the moment in her stride, stating: “I just flashed you; I hope you didn’t see nipple.”
Co-host Alex Jones replied: “There was a wardrobe malfunction. There was a flash of something, I don’t know what I saw.”
Carr, referring to a segment that had just been shown on the episode, joked that Cabello had “cyber-flashed” them.
“You’ve just done an item on it – what are the chances?” he quipped, with Jones adding: “It’s all come together.”
As Jones moved the interview along, Cabello spoke about her mum, whom she said was “in the next room right now, probably freaking out about my wardrobe malfunction”.
Cabello recently explained why she broke up with her former boyfriend of two years, Shawn Mendes.
The singer, who is Cuban-American, will release her new album, Familia, later this year.
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