It was written and produced by Jackson along with production duo Jimmy Jam and Terry Lewis, and released as the album's fifth single on May 11, 1994, by Virgin Records.

He also described the R. Kelly remix as a "meandering but ultimately sexy and engaging take", and "more straightforward pop and radio-friendly but doesn't relinquish its urban groove".

[8] Larry Flick from Billboard stated that the "grinding R&B ballad" benefits greatly of R. Kelly's remix, adding, "He prunes the seven-plus minute album version down to an accessible length, shining a flattering light on Jackson's writhing vocal and the song's oh-so-sexy lyrical context.

[5] Troy J. Augusto from Cash Box wrote, "Exactly one year after the release of the janet album comes the issue of one of its best tracks, this burning, down-tempo grinder.

"[10] Philadelphia Daily News's Chuck Arnold called the song a "delicate, aching ballad", which "warmly climaxes the carnality with a cooing vow of insatiability".

[16] During the performance of "Any Time, Any Place" on the Janet World Tour which occurred through 1993 and 1995, Jackson selected a man from the audience to the stage, and sat on his thigh.

[19] Due to censorship laws, "Rope Burn" and "Any Time, Any Place" were left out of the release in Hong Kong, where the video was issued as a 17 track double VCD.

[20] It was later included on the 2008 Rock Witchu Tour, as an interlude for the performance of "Discipline", on which she and her dancers pull up a male audience member and strap him into a harness; he was then suspended midair as Jackson teased him with a highly suggestive set of moves and the breathy soft-core porn of the track.

It was also included on the setlist of her 2019 Las Vegas residency Janet Jackson: Metamorphosis, sampling Lamar's "Poetic Justice" and Ginuwine's "Pony"; during the performance, a male fan was brought onstage and was sat strapped to a chair.

A freestyle over the song's instrumental was recorded and released by American rappers Busta Rhymes and Q-Tip on December 21, 2012, where the two pay homage to the singer.