The Lego House hitmaker performed with the group on their 1978 hit Beast of Burden, and Sheeran later took to Instagram.com to post a 'selfie' with the iconic band, adding the caption, "Just sung a song on stage with these ladz (lads)."

He also uploaded a picture showing him talking to Keith Richards, writing, "Learning how to be led astray".

Videos were uploaded to The Rolling Stones' Twitter.com account showing the group with Sheeran and a message posted on the microblogging site reads, "Thank you Ed Sheeran, our special guest in Kansas City!"

The band's Zip Code Tour concludes in Quebec, Canada next month (Jul15).