"Any Time, Any Place" is a song by American singer Janet Jackson from her fifth studio album Janet (1993). It was written and produced by Jackson and Jimmy Jam and Terry Lewis, and released as the album's fifth single on May 23, 1994, by the Virgin label. The song lyrically depicts Jackson having sexual intercouse in public. A remix produced by R. Kelly was also released.

"Any Time, Any Place" reached number two on the US Billboard Hot 100 and became another R&B chart-topper for Jackson. She has performed the song on three of her tours.

"Any Time, Any Place" was co-written and co-produced by Jackson and Jimmy Jam and Terry Lewis. It is a R&B ballad, based on sexual liberation, similar to the music of Barry White and Marvin Gaye. Jackson sings about she and her lover having public displays of affection and sexual intercourse. It also features saxophone and fingersnaps, with additional sounds of rain and thunder. The chorus of the song decipts Jackson singing "I don't care who's around" during her public lovemaking. During the second pre-chorus, the singer vamps, "I don't give a damn! I want you now!" According to Sputnikmusic, the song "oozes with the longing to be touched".

American singer R. Kelly made a remix of the song, which along with the CJ's 12" Mix, appeared on Jackson's 1995 remix compilation album Janet Remixed.

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