"We don't expect a woman to dance without underwear." Authorities stated.
Wabantu was detained upon entry into the country at the Kenneth Kaunda International Airport.
The Zambian authorities had no justification for her detention.
However, the government had earlier said Wabantu would not be granted permission to enter the country because that would be contrary to the country's morals, the Nation reports.
National Guidance and Religious Affairs Minister, Godfridah Sumaili, told the promoter Sunset Sound Production that Wabantu could only attend as a guest. She wasn't allowed to perform because that would be "against public interest and national values."
"Zambia is a Christian nation where morality and ethics must be followed. We don't expect a woman to dance without underwear," Sumaili said.
The censorship board in Zimbabwe had in 2017 barred Wabantu from performing at an annual carnival after protests by a local actress.
Following blacklash for the move, Zimbabwe then changed tack and allowed Wabantu to perform at a private venue but the singer declined to attend citing fears for her safety.