The singer made an appearance at a screening of the documentary at the Museum of Modern Art in New York on Wednesday.
"She came out to support Alek Keshishian, her long-time friend and director of the celebrated documentary," people.com quoted a source as saying.
Dressed in a red off-the-shoulder dress, Madonna interacted with her fans during her surprise visit.
Madonna: Truth or Dare was originally released in May 1991 and followed Madonna's successful 57-show Blond Ambition World Tour across the globe.
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