Gemma Whelan has revealed actors were 'left to get on with it' while filming 'frenzied' sex scenes on .
The actress, who played Lady Yara Greyjoy on the hit fantasy show, explained: 'They used to just say, ''When we shout action, go for it!'', and it could be a sort of frenzied mess.
'A director might say, ''Bit of boob biting, then slap her bum and go!''.'
Candid: Gemma Whelan, 40, has spoken candidly about filming raunchy scenes during her time on Game Of Thrones
However the star insisted actors would always 'check in with each other' before filming sexual scenes.
She told : 'There was a scene in a brothel with a woman and she was so exposed that we talked together about where the camera would be and what she was happy with.'
'I'd always talk it through with the other actor,' Gemma added.
MailOnline has reached out to HBO for comment.
Intimate: Gemma's bisexual character Yara often engaged in raunchy scenes, most famously with actor Alfie Allen (Theon Greyjoy, pictured)
Gemma's bisexual character Yara often engaged in raunchy scenes, most famously with her on-screen brother Alfie Allen (Theon Greyjoy).
The pair became incredibly intimate while riding a horse, with the scene going on to become one of the show's most infamous.
Recalling the shoot, Gemma told the outlet 'Alfie was very much, ''is this OK? How are we going to make this work?'''
Pointing to the importance of on-set intimacy coordinators, Gemma called their appointment a 'step in the right direction' and noted intimate scenes become 'more of a choreography' under their direction.
During its eight-season run, Game Of Thrones became as well known for its steamy sex scenes as it did for its gruesomely violent battle sequences.
Drama: The fantasy series has seen its fair share of shocking relationships come to light, not least the incestuous romance between twins Cersei and Jamie Lannister
The fantasy series saw its fair share of shocking relationships come to light, most notably the incestuous romance between twins Cersei and Jamie Lannister.
Cersei's children Joffrey, Tommen and Myrcella Baratheon were born from the relationship between her and Jamie, rather than her marriage to the late king Robert.
Another surprising twist at the end of the seventh season saw Jon Snow (Kit Harington) and Daenerys Targaryen (Emilia Clarke) take their romance to the next level, at the same time it was revealed elsewhere that they're related.
Sultry: Another surprising twist saw Jon Snow (Kit Harington) and Daenerys Targaryen (Emilia Clarke) take their romance to the next level
Steamy love scenes have become a television staple in recent years and a whole new industry has sprung up around them.
As of 2021, Britain has 20 registered intimacy coordinators — all but three female — to thank for expertly choreographing such scenes as Daphne and Simon's passionate encounter on the library stepladder in Bridgerton.
Intimacy co-ordinators have been staple members of staff on some of the most popular series of the last 12 months: Normal People, It's a Sin, and I May Destroy You have all utilised the position.
Steamy: Steamy love scenes have become a television staple in recent years and a whole new industry has sprung up around them
But although choreographed fight scenes have long been standard practice in the industry the same cannot be said for sex scenes.
Instead, an intimacy co-ordinator will often devise a choreographed routine where the actors know exactly whose hands are going where and when.
Other times they'll take a looser 'paint by numbers' approach where one section of the body, like from the neck to the lower back, will be free to work with.
But both performers in the scene will know that beyond that designated area is off limits.
Family: Gemma shares a young son and daughter with her husband Gerry Howell (pictured together last year)
Emilia Clarke, 30, has previously spoken out about the furore one of her GoT sex scenes caused, as she revealed she was 'annoyed' by the persistent commentary.
The actress - who's character has appeared nude several times throughout the eight seasons - admitted she doesn't understand why the HBO show receives so many comments about the graphic content.
She began: 'I'm starting to get really annoyed about this stuff now because people say, 'Oh, yeah, all the porn sites went down when Game of Thrones came back on…'
Dream project: As for her dream project, Gemma shared that she'd love to hone her American accent on screen (pictured filming Game Of Thrones)
'There are so many shows centered around this very true fact that people reproduce. People f**k for pleasure—it's a part of life.'
At the end of the seventh series, Emilia's character Daenerys was seen getting hot and heavy with Jon Snow, played by Kit Harrington.
The pair, whose romantic relationship has been building throughout the penultimate season of the HBO fantasy drama, video finally gave into their passion as they sailed north from Dragonstone, to face off against the dreaded White Walker threat.
Jon sneaked into 'quarters and his lovestruck queen was only too quick to invite him inside, resulting in the pair making love while at sea - to the delight of fans.
Opinion: The actress - who's character has appeared nude several times throughout the eight seasons - admitted she doesn't understand why the HBO show receives so many comments about the graphic content
However in an unsettling twist, the scene played out as Jon's true parentage was revealed, making Dany his aunt - although neither are yet aware of their blood relation.
Speaking in a special behind-the-scenes commentary for show, Emilia said 'gagging' was her first reaction to the tryst - while Kit acknowledged the 'weird' encounter had been inevitable after weeks of building romance.
Kit said: 'I think they both know it's wrong. I think they both know it's going to cause problems. But it's that thing, when you suddenly feel that deeply about someone and you go through these events together, it's like a runaway train.
'I think it's an inevitability from about halfway through the season that Jon and Daenerys will fall into bed together. You can't stop it from happening.'
Emilia again referenced the nudity in an interview with where she revealed she gets a lot of anti-feminist clap back about her scenes.
Discussing the scene where she walks out of a fire completely naked - yet unscathed, Emilia said: 'I just wanted to come out and do an empowered scene that wasn't sexual - it was naked, but it was strong.
'I get a lot of c*** for having done nude scenes and sex scenes. That, in itself, is so anti-feminist.'
Steamy: Emilia Clarke pictured during a Game Of Thornes sex scene
Emilia added: 'Women hating on other women is just the problem. That's upsetting.'
Despite being comfortable with her own experience, Emilia said that she does think there should be more male nudity on screen for it to be an equal balance.
She told The Late Show host Stephen Colbert: 'You know I did it, so why can't the boys do it?' and calling for 'junk equality'.
Her co-star and on-screen lover Kit Harington, who took on the role of Jon Snow, ha also agreed that male and female nudity needs to be equal.
He told Hollywood Life: 'It's only right if you're going to make a show where nudity and sex is a large part of it, that you be a part of that,' he told Hollywood Life.
Speaking out: Elsewhere, Emilia's co-star Carice van Houten - who portrays red priestess Melisandre - said that she wants to 'normalised' on-screen nudity
Elsewhere, Emilia's co-star Carice van Houten - who portrays red priestess Melisandre - said that she wants to 'normalised' on-screen nudity.
The actress, 45, who said that viewers are far more likely to see violence on screen, revealed: