The two performers delivered a duet of 'Super Bass', a single from Minaj's Pink Friday album.
After the performance, both musicians praised each other, with Minaj saying: "I want to thank [Swift] from the bottom of my heart."
The rapper then announced: "I love you Taylor!" before the pair hugged to applause from the audience.
The show was part of Swift's international 'Speak Now' tour, named after her most recent album which she said provides "snapshots" of her life.
Watch Nicki Minaj and Taylor Swift on stage below: