The singer took to the stage in a black hooded cape, backed by her band, to perform a selection of hits from her 2010 critically-acclaimed debut album The ArchAndroid.
The 25-year-old kicked off the set with 'Dance Or Die', which was swiftly followed with album track 'Faster'. The star then performed 'Locked Inside' before singing a rendition of Nat King Cole's classic 'Smile', widely known to have been one of Jackson's favourite songs.
During the end of an energetic performance of 'Sincerely Jane' - where Monae shot down her dancers who were dressed up like death - the star moonwalked across the stage in another nod to the late pop icon, receiving a rapturous response from the packed-out crowd area.
Monae proceeded to sing the Jackson 5 hit 'I Want You Back' while channeling much of the original choreography into the performance.
Clearly happy with the audience's response, Monae told the crowd: "I love you. The last time I was here my luggage was lost. It's not lost anymore!" She then played her two previous singles 'Cold War' and Tightrope'.
Monae concluded her set with 'Come Alive (War of the Roses)', managing to get the audience to crouch halfway through the performance.
The star exited the stage by crowd-surfing and was then piggy-backed by a member of her band down the photographers' runway.
Oya Festival is an annual music event in Oslo, which is currently taking place until August 14. Performers on the bill include Kanye West, Pulp, Wiz Khalifa and James Blake.
Janelle Monae recently revealed that she already has plans in place for her second studio album, which she promises will be "bigger" than her debut.
Watch the video for Janelle Monae's 'Tightrope' below: