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Rex Features
The Torchwood actor was taking part in an interview on Radio 1's Switch show on Sunday when he showed his genitals.
He was asked by presenters Annie Mac and Nick Grimshaw: "You're famous, we're told, for getting your willy out in interviews. Is this going to happen today? Should Annie be careful?"
Barrowman, who was informed that the webcam was turned on, responded: "Alright. I'll get it out for you then, no problem."
The comments, which were made before the watershed, prompted one listener to complain.
A BBC spokesman later confirmed that Barrowman had exposed himself, but said the shots were not visible to online viewers.
However, he added: "We do feel that the programme overstepped the mark. We acknowledge this and apologised at the end of the live programme."
Barrowman has also issued his own apology, saying that the "light-hearted" banter went too far.
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