The TV ad aired this weekend and was created by Publicis London.
The clip begins with the words "What is Va Va Voom?" appearing on the screen, followed by a montage featuring Hollywood film stars Marlon Brando and Audrey Hepburn.
Von Teese is shot stripping her underwear off while being watched by a number of onlookers, including Henry, who has appeared in several onwards.
Music extracts in the ad include David Bowie’s 'Space Oddity' and Rihanna's 'S&M' single.
Phil York, marketing director at Renault UK, said: "We've filmed a brand new Renault Clio 'Va Va Voom' ad because the campaign is still so popular after five years off the air."
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