Then the camera peeped impertinently beneath the princess'royal skirts.
From the time.com
Philosophy is such an impertinently litigious lady, that a man has as good be engaged in lawsuits, as have to do, with her.
From the en.wikipedia.org
Except for the batted ball that bounced impertinently off his right elbow, Mike Mussina had things well in hand Tuesday night against the Blue Jays.
From the washingtontimes.com
But Mr Grill chuckled when the Herald impertinently asked whether he was planning to make more donations, to Sydney University or any other institution.
From the smh.com.au
The difficulty occasioned by his refusal to answer a professional question rather impertinently put to him was overruled by the tact of the chairman, who handed him his diploma on the spot.
From the en.wikipedia.org
More examples
In an impudent or impertinent manner; "a lean, swarthy fellow was peering through the window, grinning impudently"
(impertinence) crust: the trait of being rude and impertinent; inclined to take liberties
(impertinent) characterized by a lightly pert and exuberant quality; "a certain irreverent gaiety and ease of manner"
(impertinent) extraneous: not pertinent to the matter under consideration; "an issue extraneous to the debate"; "the price was immaterial"; "mentioned several impertinent facts before finally coming to the point"
(impertinent) fresh: improperly forward or bold; "don't be fresh with me"; "impertinent of a child to lecture a grownup"; "an impudent boy given to insulting strangers"; "Don't get wise with me!"
In an impertinent manner
(Impertinence) Irrelevancy; the flaw of bearing no reasonable relationship to the issues or proceeding at hand.