The pair, who collaborated on 'Fly', can be seen in the footage walking around a plane crash site wearing outfits such as leopard print wigs, shredded and studded dresses and a white catsuit.
Minaj and Rihanna debuted the video for the first time at the MTV VMAs pre-show on Sunday. 'Fly' appears on Minaj's debut album Pink Friday.
Watch the video for Nicki Minaj's single 'Fly' ft Rihanna below:
The pair previously collaborated on 'Raining Men', which features on Rihanna's latest LP Loud.
Minaj has previously said that working with Rihanna on the song was "empowering", adding: "I wanted to work with Rihanna for a long time. I'm very proud of her accomplishments, especially since she was born on an island like me."
Rihanna also recently revealed that she would love to move in with Minaj, posting pictures of them in their "crib" together on Twitter.