The string of concerts have been designed to drive up the turnout among younger voters.
Speaking to the crowd, Beyonce - whose dancers all wore 'I'm with her' T-shirts - shared an impassioneed speech, saying she would like to see daughter Blue grow up seeing a "woman lead our country and know that her possibilities are limitless".
"And now we have the opportunity to create more change. 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."
Remembering the rapper's lyrics to My President, she continued: "Remember Jay memorably said something we should all recall - Rosa Parks sat so Martin Luther could walk.
Friday's concert was just one of many that celebrities will be headlining in support of Clinton.