The 52-year-old, who plays Queen Helena in The Royals, oozed sex appeal as she donned the saucy ensemble for the American series.
Sporting a sexy black mini dress, which featured a lacy-fringed bustier, the star showed off plenty of cleavage.
She teamed the
In one snap, Elizabeth could be seen hand-cuffed to a bed-post in the steamy ensemble.
But, Queen Helena looked less than amused, as she had been caught in the provocative position by her on-screen mother The Grand Duchess (played by Dame Joan Collins).
Wearing her hair in loose curls, Elizabeth styled her hair in two pigtails – which had been tied with silky white bows.
Earlier in the episode, the character wakes up next to naked hunk Sebastian (Toby Sandeman) on her birthday.
However, Queen Helena appeared to suffer a rather awkward encounter after her on-screen mum The Grand Duchess entered the room to tell her she cannot be sleeping with one of her daughter’s friends.
The Grand Duchess later found her daughter handcuffed to the bedpost in the steamy outfit while Helena’s beau hid.
But, it seems that the stunner was released from her captivity as she proceeded to chat to her mum.
During the episode, Elizabeth’s son Damian Hurley made a guest appearance as Prince Hansel von Liechtenstein which saw him wish Queen Helena a happy birthday during a fantasy sequence.
Elizabeth shared a behind-the-scenes snap from the filming of the episode last week, which saw the
In the upload, Damian opted for a relaxed ensemble as he donned a green tee-shirt and grey ripped jeans.
Meanwhile, Elizabeth and Joan could be seen sporting their outfits from the episode.
Damian also took to Instagram to share the capture of him pictured on the set with his co-stars, beside which he penned: “The Unholy Trinity.”
Beside the snap, she gushed: “My favourite episode of #theroyalsseason4 tonight, with my son @damianhurley1 reprising his role as Prince Hansel and the divine @joancollinsdbe on fabulous form.”
Sharing the clip with her 892,000 Instagram followers, the star modelled a stunning white number from her swimwear range, as she soaked up the sun in Ibiza.
It came shortly after the mum-of-one posed alongside her teenage son, as he celebrated his sweet 16th.
Damian gazed at the camera for the capture, while Elizabeth flashed her pearly white teeth as she spent time with her son.