Wolverine actor Hugh Jackman and Frank Ocean were among 80,000 people in the crowd at New Jersey's MetLife Stadium.
Beyonce sang tracks from her six solo albums, including her latest effort, Lemonade.
Jay Z joined his wife for Drunk In Love, making his first appearance on the tour, which started in April.
Kendrick Lamar's cameo included a dance-off with Beyonce in a pool of water during Freedom.
Meanwhile Serena Williams - who appears in the music video for Sorry - brought the clip to life by twerking while Beyonce sang the song.