A half-naked woman reportedly fell off a balcony onto a car roof while "having sex" with her boyfriend, according to Taiwanese media.

The unidentified red-haired woman was reportedly being intimate with her boyfriend on their room’s balcony when she slipped off the ledge in Taipei, Taiwan on September 5 afternoon.

CCTV footage shows the woman falling flat on her bottom on top of a black sedan parked in front of an apartment building wearing only a shirt and underpants while her shorts dangled from her left leg.

While she appeared to be in pain, a man wearing only pants frantically ran to her and calmed her down while he tried to take her off the car roof.

A shocked onlooker told local media: ‘I was walking home when it happened. I did not see her fall but we heard a loud crash and she was already on top of the car. A man then came to her and helped her.’

The couple could also be seen hugging and kissing when she was finally out of the car roof before the boyfriend took her to a nearby hospital for treatment.

She had a minor back injury and had to stay in the hospital for a few weeks to heal but she is now in stable condition.

The couple also had to pay for the damaged car, which was owned by their neighbour who lived in the building.