Kendall Jenner made her Victoria’s Secret Fashion Show debut in some very racy underwear and both her parents went duly nuts with excitement.

The reality star was the third model to hit the runway at the annual lingerie show and her momager Kris Jenner was barely able to contain her glee. Seated next to her boyfriend Corey Gamble, Kris was spotted filming every second of her daughter’s strut.

Kendall’s father, Caitlyn Jenner, cheered and appeared to be close to tears as her daughter sashayed past in a multi-coloured corset and red knickers, fanning out her long train.

Earlier, Behati Prinsloo, who is married to Maroon 5 frontman Adam Levine, opened the show for the second year in a row, sporting a huge hippie-inspired set of wings.

Taylor Swift’s pal Lily Aldridge followed hot on her heels in a red underwear set and navy military jacket, keenly watched by her husband, Kings of Leon singer Caleb Followill.

Canadian rapper The Weeknd was the first musical performer of the night, singing In The Night as models including Kendall, Alessandra Ambrosio and another Taylor Swift pal, Martha Hunt, did their best to distract him with their pale and whimsical ensembles.

Model-of-the-moment Gigi Hadid snatched the spotlight during Ellie Goulding’s performance of Army, sporting a green lingerie set and a huge butterfly across her torso.

Ellie later performed her hit from Fifty Shades Of Grey, Love Me Like You Do, as snow fell on a runway populated by models in white underwear and ski accessories.

Rihanna was originally slated to perform on the catwalk but dropped out to focus on her upcoming album so Ellie stepped in to take her place.

Selena Gomez gave the models a run for their money with her sexy performance of Hands To Myself and Me & My Girls in a plunging black silk gown.

She playfully smacked Gigi on the bottom as the model sauntered past in yellow fireman’s trousers and a red crop top.

After her performance she said: “I felt like I was dancing with my girlfriends in my bedroom with wind in my hair, it was the best feeling.”

The Weeknd returned to the stage for the final section of the show to perform his smash hit I Can’t Feel My Face as Lily Aldridge rocked the $2 million Fantasy Bra, featuring thousands of diamonds and 18K gold.

Many of the models danced and sang along to the single as they sported their firework-themed wings.

The Victoria’s Secret Fashion Show was taped in New York last month but aired on TV in the USA on Tuesday.