Fan Twitter page Team 1D shared a clip of the moment, and one member wrote: "HARRY TRIPPED OVER A BRA ON STAGE IM DYING -R."
Fans have understandably loved every second o0f the short vine, and one wrote: "I want Harry styles to pick up my bra too........"
While another added - appearing to confirm she was the owner: "HARRY STYLES picked up MY bra? Lol. Never thought I'd ever be able to say such a sentence #OTRASG."
And one added: "He kicked the bra like it was a soccer ball, good kick harry."
He tweeted earlier this week: "Looking forward to the show in Singapore.. Can't wait to see you all. All the love. H."
The star recently took a break from the band's world tour as he treated his mum to dinner in Cheshire.
The shaggy-haired star was spotted with his mother Anne Cox as they headed out to dinner at Knutsford Wine Bar on Friday night to spend some quality family time together.
It might seem like they live the perfect jet-set lifestyle but it's not often the lads get to see their loved ones and Harry was clearly making the most of his break after the band's recent tour of Australia and Asia.