Asked about his favorite memory with the "Wrecking Ball" singer, Jonas, 22, said their time together "feels like so long ago."
"You're talking like 10 years ago," he said. "We went on tour together, that was pretty amazing and it was a really big tour and got a great response, so that probably."
Nick Jonas and his brothers Joe and Kevin were the opening act for Cyrus' Best of Both Worlds Tour, at the time, the singer was still starring on the Disney channel show Hannah Montana.
"She was like 14 so she [wasn't that wild]," said Jonas. "I was crazy!"
In addition to dishing on his relationship with Cyrus, Jonas also showed off his rap skills during the karaoke portion of the interview.
Jonas is currently promoting his second solo studio album, Nick Jonas, and is slated to join The Voice as a mentor for Christina Aguilera's team for the show's eight season. The singer has also secured a part in Ryan Murphy's anthology Screen Queens.