The crowd joined in with the impromptu show, but the multi award-winner appeared to have forgotten some of the lyrics to John Lennon classic Imagine.
She also sang smash hit Like A Prayer and Ghosttown, taken from her Rebel Heart album.
Madonna told those assembled: "Everybody knows why we're here ... we just want to sing a few songs about peace, just to spread love and joy, and to pay our honour and respect to the people who died almost four weeks ago."
She added: "And to spread light ... we all need it."
After the Paris attacks, which left 130 people dead, Madonna took a moment to reflect when her Rebel Heart tour reached Stockholm.
"I need to take this moment to acknowledge the tragedy, the tragic killings, assassinations, and the senseless endings of precious life that occurred last night in Paris," she said on November 14.
Following her speech, Madonna asked for a moment of silence.
- AAP