Laughing and giggling, Cyrus appears high, saying she's "having a bad trip."
Sources tell entertainment news website TMZ, which released the video, that it was shot at Cyrus' Los Angeles home just five days after her 18th birthday -- and that she was not smoking marijuana.
The video has created a buzz around the world.
Her father, Billy Ray Cyrus, took to Twitter to voice his concern.
"Sorry guys. I had no idea. Just saw this stuff for the first time myself. Im so sad. There is much beyond my control right now," he said.
Salvia is legal in most U.S. states and is not currently regulated by federal drug laws.
Experts said salvia is growing in popularity among teens since it's easy to get.
"The problem with salvia is it's legal," said Cary Quashen of Action Family Counseling. "Any of these kids can go into hemp shops or smoke shops and buy it. Kids are going to experiment with stuff, but the problem is they have no idea what they're doing."
One salvia user, who did not want to be identified, said the high is short-lived, lasting 10 to 20 minutes.
"You have no control over what you're," the teen said. "You look absolutely crazy to people. It's like acid, but 10 times crazier."
However, there is a push under way to get salvia outlawed.