The Australian singer took to the stage to perform a 20-minute medley of songs such as 'Better the Devil You Know' and 'Locomotion' at the annual LGBT parade on Saturday night (March 3). She is said to have waived a fee of $16,000 (£11,000) for her appearance.
A Mardi Gras spokesperson told the Herald Sun: "It is true that she did not charge a fee at all."
The representative for the parade also insisted that Minogue's vocals were genuine, added: "Kylie sang live throughout the whole performance."
After her performance, Minogue thanked all those who attended the concert, describing them as "amazing". She also said that she could not believe the amount of people who helped create her K25 float, which was designed to help celebrate her 25-year anniversary in the music industry.
The musician said before the event that she was "super excited" about it, also revealing that she will "always" consider herself a true Aussie despite living in the UK.
Minogue was recently confirmed as one of the headline acts at The Queen's Diamond Jubilee concert in June. Other performers include Stevie Wonder, Paul McCartney, Tom Jones and Annie Lennox.
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Watch Kylie Minogue perform an orchestral version of 'On A Night Like This' below: