The Purple Rain hitmaker quickly organised the Rally 4 Peace gig in response to the riots in Baltimore, which erupted over the death of 25-year-old Freddie Gray, who suffered fatal injuries in police custody last month (Apr15).
Prince told the audience, "For those who have lost loved ones, we're here for you tonight" before launching into his set, which included new protest song Baltimore that he wrote for the city after Gray's death.
During the show at the Royal Farms Arena, Prince and his backing band 3rdEyeGirl were joined onstage by Doug E. Fresh, Miguel and Estelle, as well as Baltimore State Attorney Marilyn J. Mosby, who has charged six officers over Gray's arrest.
According to the Baltimore Sun, Prince said onstage, "The system is broken. It's going to take the young people to fix it this time. We need new ideas, new life..."
A portion of the proceeds were donated to youth charities in the city. The first hour of the show was available for free on Jay Z's streaming service Tidal.