The singer - who was also recently confirmed to voice Smurfette in the upcoming Smurfs movie - said that she filmed her cameo on March 18.
Perry posted a photo of herself with Elmo on her Twitter page, along with the message: "Sunny day today! I think I'm in lurv. I mean, someone gotta werk that streeeet!!! (sic)"
Other female singers to have previously guested on Sesame Street include Carrie Underwood and Feist.