The series of shows begins June 16 in Baltimore, Md., at the 1st Mariner's Arena.
The Live Nation-produced tour will make 50 stops in top arenas across North America, with additional dates to be announced soon.
Tickets are available at Ticketmaster.com and LiveNation.com.
"I'm very excited to join Sade on her summer tour. She is an incomparable artist and I'm honored to share the stage with her," Legend said in a statement Tuesday. "I know we'll provide our fans with an experience to remember. I can't wait to start the tour."