Beyonce had everyone talking after her surprise performance with Kendrick Lamar. Her Formation World Tour dancers entered to Martin Luther King Jr.'s "I Have A Dream" speech, and then Beyonce and Lamar performed a water dance to her song "Freedom."
The night was also full of tributes to Prince, with Jennifer Hudson, Stevie Wonder, Tori Kelly, Maxwell, Janelle Monee and Bilal performing the late icon's greatest hits.
Social activism was a theme of the night, with Humanitarian Award winner, Jesse Williams of ABC's Grey's Anatomy, dedicating his award to black women "who have spent their lives dedicated to nurturing everyone before themselves" and calling for change. Hosts Tracee Ellis Ross and Anthony Anderson of ABC's Black-ish encouraged viewers to get out and vote.
The hosts also made sure to have some fun, performing a skit spoofing Broadway's Hamilton.
Here's the full list of winners:
Best Male R&B/Pop Artist -- Bryson Tiller
Best Female R&B/Pop Artist -- Beyoncé
Best Actor -- Michael B. Jordan
Best Actress -- Taraji P. Henson
Best Movie -- Straight Outta Compton
Best New Artist -- Bryson Tiller
Video of the Year -- Beyonce, "Formation"
Best Male Hip-Hop Artist -- Drake
Best Female Hip-Hop Artist -- Nicki Minaj
Best Collaboration -- Rihanna ft. Drake, "Work"
Best Group -- Drake and Future
Best Gospel -- Kirk Franklin
Youngsters Award -- Amandla Stenberg
Centric Award -- Beyonce, "Formation"
Video Director of the Year -- Director X
Dr. Bobby Jones Gospel Inspirational Award -- Kirk Franklin
Coca-Cola Viewers' Choice Award -- Beyonce, "Formation"
Sportsman of the Year -- Stephen Curry
Sportswoman of the Year -- Serena Williams
Best International Act Africa -- Wizkid (Nigeria)
Best International Act U.K. -- Skepta
Humanitarian Award -- Jesse Williams
Lifetime Achievement Award -- Samuel L. Jackson
From the red carpet to performances to comedic hosting duties, see what your favorite celebs wore in the gallery above.
ABC News contributed to this report.