Eva Mendes. (AP Files)

Eva Mendes has blasted religious critics of her raunchy Calvin Klein lingerie ad, insisting the semi-naked poster is "tasteful and beautiful."

The actress' latest billboard ad for the fashion firm has temperatures rising, particularly a poster in downtown New York City that shows the half-naked star sprawled across an entire city block.

Critics have protested and want the poster pulled down, but Mendes insists they're wrong.

She says, "It's a religious group that has a problem with the image. That's what I love about this country. We can voice our opinions and beliefs like that. But they're wrong. I don't think I'm traumatising any children. I think it's a really tasteful and beautiful ad."