Beyonce and Jay Z have joined Hillary Clinton on the campaign trail, marking the first time the singer has formally endorsed the candidate this election.

The pop culture power couple appeared at one of the many free concerts, held to encourage young voters to cast a vote for the Democrat candidate, in Cleveland, Ohio – a swing state which could be vital in determining the outcome when US voters head to the polls on Tuesday.

After both performing sets, during which Beyonce’s dancers wore blue trouser suits – so often favoured by Ms Clinton – and t-shirts which said ‘I’m with her’, the singer addressed the crowd.

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The 35-year-old said eight years ago she was inspired that her young nephew could witness a black man being president and now she wants the same inspiration to be applied to her four-year-old daughter Blue Ivy. She called on young women, especially, to vote given that within 100 years women have gone from not being allowed to vote to being on the "brink of history" by electing the first female president.

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“I want my daughter to grow up seeing a woman lead this country and know that her possibilities are limitless,” she told the crowd. “We have to think about the future of our daughters, our sons and vote for someone who cares for them as much as we do and that is why I’m with her.”

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Her husband echoed Beyonce’s sentiments saying he too wants their daughter to have “no limitations”.

Turning his attention to Donald Trump who he says he has “no ill will” towards, the 46-year-old said: “His conversation is divisive and that is not an evolved soul to me so he cannot be my president, he cannot be our president”.

The couple then introduced “the next president of the United Staes Ms Hillary Clinton” to the stage who greeted the Carters with a warm embrace.

While Beyonce had previously attended a fundraiser for Ms Clinton and been pictured with her husband Bill at an event over the past few months, this is the first time she had spelled out exactly who she is backing.