The event was designed to promote the upcoming launch of Etam's lingerie collection.

The video shows the three models walking into the museum wearing coats and high heels. Once inside among the museum's famous paintings, they strip off.

The three models giggle as they walk nervously around the museum until they seem to be ushered out of the doors.

The museum's head of communications said filming had not been authorized and that lawyers will make a complaint.

"I'm responsible for filming and such a shoot would never have been accepted. It's unthinkable," Amélie Hardivillier told the local press.

The Musée d'Orsay is one of Paris most famous and most visited museum, housed in a former train station on the city's left bank. 

It is best known for its collection of impressionist and post-impressionist painters including Monet, Manet, Renoir and Van Gogh.