"Don't worry America: I will be beyond family friendly. Relax and enjoy," wrote Lambert in a Tuesday post to his Twitter account.
The eighth-season runner-up will perform his latest single "Whattaya Want From Me" -- which currently sits at No. 20 on Billboard's Hot 100 single sales chart -- on Idol's April 14 live results show after serving as a musical mentor on Tuesday night's Top 8 performance show.
Lambert's performance of his debut single "For Your Entertainment" at the end of ABC's live American Music Awards broadcast included him holding a leash attached to a male dancer wearing bondage gear and using it to pull the dancer towards him.
He then grabbed the back of the dancer's head and shoved the dancer's face in his crotch, simulating a sexual act and causing ABC to cut to an overhead shot of the studio audience during the live East Coast broadcast.
In addition, Lambert fondled a female dancer's crotch, made-out with a male keyboardist, grabbed his own crotch and gestured his middle finger at the audience during the performance.
ABC subsequently decided to cancel a Good Morning America appearance as well as a scheduled appearance on Jimmy Kimmel Live.
Lambert subsequently said he didn't blame ABC for the cancellations and instead claimed it was due to "FCC heat.