"There is so much sexism, ageism, you name it," Cyrus said. "Kendrick Lamar sings about LSD and he's cool. I do it and I'm a druggie whore."
Staples didn't take kindly to the remark, and offered up a reality check for the 22-year-old star.
"She didn't know who she was talking about," he said in an interview with i-D. "Kendrick Lamar doesn't have a song about LSD -- that's A$AP Rocky. So is it either you don't know what you're talking about or is it all black people look alike? Either one is fine with me but shut the f*** up Miley Cyrus."
But there is one pop superstar that has Staples' approval.
"I love Taylor Swift because she got a little bit of my publishing back with that whole Apple Music thing she did," he said. "Anyone who has a problem with Taylor Swift, I'm supporting her because I"m trying to buy a home right now."
Staples' comments come just after a major performance with Jhene Aiko and The Roots on Tuesday's The Tonight Show Starring Jimmy Fallon, where he promoted his critically acclaimed debut album, Summertime '06. See it below. This fall, the Long Beach rapper will head out on tour with A$AP Rocky and Tyler, the Creator.