Beyoncé and her sister Solange Knowles joined 33-year-old Kelly at the private bash in New York on Tuesday (11 February).
The group appeared to have a fun time, with mum-of-one Beyoncé even giving her Destiny's Child bandmate a piggyback!
In photos posted on Beyoncé's Tumblr page, Kelly, who recently unveiled a sleek bob haircut, beamed with joy as she was surrounded by family and friends for the celebration.
Kelly entertained guests with an exquisite menu including organic chicken breast, filet mignon and crab ravioli, which was served in a variety of dipping sauces such as teriyaki and coconut curry.
'Dirty Laundry' singer Kelly, who confirmed her engagement to manager Tim Witherspoon in December, also blew candles from a gold cake with an elephant figure placed on top.
Beyoncé, who is married to rapper Jay Z, shared a photo of the pair embracing at the party. She said: "Happy Birthday sis!"
Missing from the celebrations was third Destiny's Child member Michelle Williams who was in Illinois celebrating her niece's first birthday.
Michelle, 33, did send Kelly a message on Twitter though, telling her bandmate: "Happy Birthday Beautiful Woman!!!!!!!"
X Factor USA judge Kelly received tons of birthday messages and gifts from loved ones and took to Twitter later in the day to send a thank you message.
Kelly wrote: "Thank you all for the tremendous amount of birthday love!! You are ALL so thoughtful and forever hold a place in my heart! Thank You ! xo."
Earlier this week, Kelly spoke about her wedding plans with Tim on US talk show The View, saying she wants a "small" and simple ceremony.
Watch Kelly's video for 'Dirty Laundry' below"