The hip hop superstar arrived 90 minutes late and was on stage for less than 30 minutes, according to the lawsuit, reported the New York Daily News.
Cahuenga Inc filed the suit on behalf of the show's producer, IMP Entertainment.
It says Minaj, 31, was paid USD 53,050 to cover her fees and expenses before the Feb 19, 2011 concert and her abbreviated appearance "defeated the entire purpose of the agreement."
It wants the cash back and other unspecified damages.
Drake and Lil Wayne also appeared at the event.