The 30-year-old performed a selection of her biggest hits, including 'Crazy In Love', 'Love On Top', 'Irresistible' and 'If I Were A Boy' at the sold-out concert in Atlantic City at the Revel New Jersey, reported Ok! magazine.
During the performance she paid tribute to Houston, who died in February, singing her hit track 'I Will Always Love You'.
The gig marked Beyonce's first concert after almost a year. Her last performance was at the MTV Video Music Awards in August 2011 - the same day she confirmed her pregnancy.
Her costumes were custom-made by London design house Ralph & Russo, who used 500,000 Swarovski Elements crystals to create the look.
Speaking to the 5,500 fans at the Ovation Hall in the Revel, she said, "I gotta say, it feels so good to be back home on stage".
Houston died on February 11, aged 48. She was found dead in the room of the Beverly Hilton Hotel, submerged in the bathtub.
