The audience at the ceremony, held at the Wynn Hotel in Las Vegas, were stunned as the Hollywood star came onstage to introduce the four-time Sprint Cup winner, who is retiring after two decades in the sport.
Jeff, who sat in the audience with his wife and two young children, was seen fighting back tears as Tom delivered a powerful speech about the sportsman, who is one of NASCAR's most successful drivers.
"When you are treated to excellence every day for 23 years, that doesn't go away easily," the "Mission: Impossible" star said of Jeff.
As Jeff took to the stage, he and Tom embraced and talked privately before the emotional driver took to the microphone.
"I knew that it was going to be a rough night, but that made it tougher," he said.