The trip was also approved because it was about them having a "people-to-people" experience and did not involve typical tourist excursions like going to the beach.
President Barack Obama has instituted more flexible rules about travel to Cuba for groups of students, academics, journalists or members of religious organisations with the aim of increasing "people-to-people" contacts.
John McAuliff, executive director for the US Treasury Fund for Reconciliation and Development, voiced his support for the couple's visit, saying: "It's hard to imagine a more people-to-people contact visit than the scenes witnessed last week on the streets of Havana with two of the United States' biggest music stars wading through crowds of fans they never knew they had."
They were previously reported to have dined at La Guarida restaurant, where the crowd outside called their names until Beyonce waved from a balcony.
Waitress Silvia Fernandez said: "She was beautiful, without a drop of makeup, very natural. What happened with the people was incredible."
During their three-day stay on the island, Beyonce visited a children's theatre group and the Contemporaneous Dance Company of Cuba to attend some informal rehearsals.
- Bang! Showbiz