Chapman played one of her most famous songs on Late Night with Seth Meyers, preceding the performance with a statement on the battle between Donald Trump and Joe Biden.
“This is the most important election of our lifetime,” she said. “It is imperative that everyone vote to restore our democracy.”
Meyers later praised Chapman and said he was “honoured” to have her perform.
“I’ve always thought Tracy Chapman’s music skips your ears and goes straight to your heart,” he said.
“I’m so honoured and excited to have her on the show. She’s living proof you can be a great artist while also speaking out for what you believe in.”
You can watch Chapman’s full performance here.
Americans are voting today (Tuesday 3 November) in one of the most tense and divisive presidential elections in decades.
The US has seen its highest turnout in a century, with nearly 100 million people having already cast their ballots in early voting.
A number of famous faces have lent their support to Biden, including Brad Pitt, Leonardo DiCaprio, Taylor Swift, Jennifer Aniston, George Clooney, John Legend and Chrissy Teigen, Beyonce, Jay-Z and Lady Gaga.
See the full list of celebrities supporting Biden or Trump here.