Minaj is currently performing with Spears on her North American tour, which kicked off last month and runs through August 13.
Spears praised Minaj for her "distinct" style and said that she is happy to see the 'Super Bass' rapper achieving such widespread success.
"I think she's great," Spears told MTV News. "She's a great artist in every way and I'm really happy for her.
"I think she has a distinct sound when she raps. It really stands out and sets her apart from everyone else. I'm happy she's able to be on tour with me because that's just amazing."
Minaj reportedly plans to embark on her first headlining tour in 2012 in support of her debut LP Pink Friday.
Watch Britney Spears and Nicki Minaj team up at the 2011 Billboard Music Awards below: