'A Scandal in Belgravia' saw Irene Adler (Lara Pulver) confront Sherlock (Cumberbatch) in the nude. A report in the Daily Mail subsequently criticised the BBC for broadcasting the scenes before the 9pm watershed.
However, at the the Television Critics Association (TCA) winter press tour, Cumberbatch said: "It's great publicity, isn't it? I think there's an awful lot of support for the way that we did it and the taste that we did it with. And if it creates more interest in the programme, thank you very much for that."
Though the Adler character was intended to be naked, clever editing was used to avoid showing any on-screen nudity.
"It's not supposed to be a source of stimulation for the audience," argued Cumberbatch. "It's supposed to throw [Holmes'] radar off, which is exactly what it does."
The BBC recently insisted that it will not remove the scenes from Sherlock when the episode is repeated on BBC Three this weekend.
Sherlock continues this Sunday at 8.30pm on BBC One. The second series will air in May 2012 on BBC America in the US.
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Watch a clip from the next episode of Sherlock below: