The Queen of Pop locked lips with the rapper as the pair hung out backstage at Radio Music City Hall in New York where the ceremony was being held.
Nicki posted an Instagram Story 60-year-old Madonna a belated happy birthday and offering ''kisses and hugs'', the 'Like A Prayer' singer then leaned in for a quick smooch with her 35-year-old pop peer, who then screams at the camera excitedly.
Nicki said: ''I wanna say happy belated bday to the queen, the queen of all queens. It's Madonna, I love you so much M, kisses and hugs ya'll show her love y'all. ''
The pair first met after collaborating on Madonna's 2015 track 'Bitch I'm Madonna'.
At the VMAs, Nicki picked up the prize for Best Hip Hop Video for 'Chun Li' and also took to the stage to perform 'Majesty' and 'Barbie Dreams', two hits off her recently released album 'Queen'.
Madonna gave a tribute to the late Queen of Soul Aretha Franklin - who passed away last week at the age of 76 - as she presented the Moonman statuette for Video of the Year to Camila Cabello.
The MTV legend told the story of how singing Aretha's hit 'Natural Woman' in an audition when she was younger, helped her break into the music industry.