Zoe Kravitz and Chelsea Tyler admit embarrassment over their fathers' 'penisgate' conversation

Zoe Kravitz and Chelsea Tyler have revealed their embarrassment over their fathers' public conversation about 'penisgate'.

A day after Lenny Kravitz shared a conversation he had with friend Steven Tyler about exposing himself on stage, their daughters have done the same.

Zoe, 26, posted a text conversation she had with Tyler's daughter Chelsea on Wednesday night, in which the pair cringed over their famous fathers.

The first message from Zoe, read: "So our dads talking about d*cks on social media is cool."

To which Chelsea replied: "What?! Oh no…Twitter? Oh god... Hahha #penisgate."

Kravitz, who inadvertently exposed his entire crotch when his leather trousers split during a show in Stockholm earlier in the week, responded by sharing Tyler's reaction on Wednesday.

The message, posted on Kravitz's Facebook page, read: "Dude...No underwear and pierced...F*** me.. You never showed me that s***."

Clearly not too embarrassed about exposing himself to the entire world, Kravitz captioned the snap with "#penisgate."

Kravitz gave front row fans slightly more than they had bargained for during his performance at Gröna Lund when he squatted down during a rendition American Woman.

Having opted to go without underwear, Kravitz was left with everything on display when his trousers completely split along the crotch.