Her GMB colleague, Piers Morgan, wasn't very impressed by this wardrobe malfunction and began to berate his co-worker and claimed that Good Morning Britain is a "family show".
Charlotte, 44, was told by a viewer on social media that she needed to tighten her dress since her bra strap was visible when the camera panned behind the presenters.
"[Piers] tell Charlotte to fasten her dress at the back, she’s showing her bra," the viewer tweeted.
Charlotte was visibly embarrassed by the situation and started to apologise to the show's viewers.
Charlotte told viewers: "I do apologise."
Piers, who's been on a long holiday and only returned to the show yesterday, then interrupted Charlotte and said: "I've had a little sneak peek, and indeed she is showing her bra."
It would be nice if you maybe keep the clothes on for another hour and fifteen would be great.
Charlotte then tried to explain the situation: "It's an open-backed dress and what I hadn't foreseen was we do these round the studio shots.
"So, I do apologise if I've offended you by flashing my underwear at inappropriate moments," she finished.
"We are a family show, Charlotte," Piers commented.
He continued: "It would be nice if you maybe keep the clothes on for another hour and fifteen would be great."
"Just maybe leave the stripping for your numerous photoshoots that you're engaging in these days," he finished.
Much to Charlotte's credit, she just laughed and apologised once again to the viewers.
This came after viewers of ITV's morning programme were delighted to see Piers and Susanna Reid return to presenting duties yesterday after their summer holidays.
The pair swapped holidays stories, and Piers couldn't help but brag about the time he spent on Lord Alan Sugar's "mega-yacht".
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