The 29-year-old rapper was joined on stage by the R&B singer during his concert at the Staples Center in Los Angeles, where they also performed their track "Work", reported Entertainment Weekly.
"I pray that you find somebody that holds you down like this woman right here," Drake told the crowd while Rihanna gave him a hug.
The "One Dance" hitmaker also called Rihanna, 28, the most "incredible, beautiful and talented" lady.
Drake had also surprised the UK crowd in Manchester during Rihanna's Anti World Tour earlier this year for a similar performance.
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