The elaborate stage, a red Cadillac, is suspended on cables and carries the superstar above her fans near the end of her show at the Cowboy Carter stadium.
But during Saturday's performance, the car started tilting slowly to one side, leaving the 43-year-old artist clinging to the US flagpole to hold on, as reported by the BBC.
"Stop! Stop, stop, stop, stop!" Beyoncé said, abruptly ending her country ballad, 16 Carriages.
Screams could be heard from the audience as her fans realized what was happening, followed by applause as the star slowly descended to the ground, smiling and waving to the crowd.
"If I ever fall, I know you'll catch me," she later said.
Fans took to social media to post their videos of the terrifying moment, commenting on Beyoncé's now infamous phrase "someone's getting fired," which she joked on stage during a lighting issue in 2010.
Beyoncé's company, Parkwood Entertainment, stated that a "technical mishap" caused the car to tilt.
"She was quickly lowered, and no one was injured. The show continued without incident," the statement added.
This is not the first technical glitch Beyoncé has experienced during her years of touring.
At the beginning of the tour, a robot that was supposed to serve her a drink malfunctioned, undoubtedly leaving a puddle of whisky SirDavis that the crew had to clean up. And during her On The Run II tour with her husband Jay-Z in 2018, a mobile platform broke down, forcing Beyoncé to descend a staircase, all while wearing heels and a sequin leotard.