The 29-year-old was appearing on music show 106 & Park when the wardrobe blunder caught the rapper off guard, reported Sun online.
Minaj, who wore a black bra-top and high waist red pants, smiled as she answered questions into a microphone and promoted new album "Pink Friday: Roman Reloaded", unaware that one of her breasts had popped out of her garment.
This is not her first wardrobe malfunction on TV. Last year, the singer suffered similar over-exposure when she was performing on TV show 'Good Morning America'.