After performing her hit single Formation, the 35-year-old gave a speech about why she was voting for Hillary, and mentioned how she wants her daughter, Blue Ivy, to see a woman lead the country.
She said: "Less than 100 years ago women did not have the right to vote. Look how far we've come from having no voice to being on the brink of making history. Again.
"By electing the first woman president. Yes. But we have to vote… I want my daughter to grow up seeing a woman lead our country, and know that her possibilities are limitless. We have to think about the future of our daughters, our sons, and vote for someone who cares for them as much as we do. And that is why, I'm with her."
Hillary thanked Beyoncé and her husband Jay Z following her performance, saying: "When I see them here, this passion and energy and intensity, I don’t even know where to begin. Because this is what America is, my friends.”
Beyonce revealed why she is supporting Hillary
"I thank Beyoncé for standing up and showing the world we are strongest when we look out for each other. And I thank Jay for addressing in his music some of our greatest challenges in the country. Poverty, racism, the urgent need for criminal justice reform."
Beyoncé shared videos of her performance and speech with her 87.7 million Instagram followers along with a photo of herself stood in front of a huge sign reading 'VOTE' to encourage her fans to participate in the election on 8 November.