During his performance at Camp Flog Gnaw in Los Angeles, the musician invited the adult film star, who allegedly had an affair with Trump, on stage to sing his controversial hit "FDT" - which stands for "F**k Donald Trump".
Before the unlikely pair began the song, Daniels introduced herself, saying in footage shared on Twitter: "My name is Stormy F**king Daniels, and I am the reason Donald Trump is f**ked."
YG, real name Keenon Daequan Ray Jackson, then asked his pal about her alleged relationship with the 45th POTUS, to which she responded: "I wouldn't really call it f**king no, I just laid there."
As the crowd cheered in response, the "Go Loko" star gave Daniels a hug as the tune, which featured the late Nipsey Hussle and strongly criticises Trump over his views on immigration and compares him to former President Barack Obama, began playing.
Last December, Daniels was ordered to pay $293,000 in legal fees and sanctions after losing a defamation lawsuit to Trump, who has repeatedly denied having relations with the star.