(Update : It has been removed by new patch for PS4) Devil May Cry 5 is Censoring Partial Nudity

[Lafiel]

shikamaru317 said:

Lafiel said:

they don't play through the whole game in those ratings organizations, the devs usually show them the most risky scenes - maybe they only showed it censored (if that was the intended state)

and an age rating is not set in stone, it can be altered once the ratings organizations feel that's waranted

In this particular case, the ESRB for sure knew about the nudity beforehand because they mentioned it in the rating, back in January they gave it an M rating for Blood, Partial Nudity, Strong Language, and Violence, specifically mentioning the partially exposed buttocks in their rating description. So if that was the case, then either PEGI or CERO was responsible. But I doubt it personally, seems more likely that Sony was responsible since we know they have forced censoring on other recent games. 

based on this pic, I think they were shown the censored version at the ESRB: