"Love You @JanetJackson #FunTimes," Ciara wrote on Instagram alongside a selfie of the two singers inside the park.
Ciara is seen sporting a conductor's hat with Mickey Mouse ears and sunglasses while Jackson is seen with her hair tied up in a bun and also wearing sunglasses.
"This Was So Much Fuuuunn!! #HandsUp!!" Ciara captioned a video from the trip that featured herself and Future joyfully riding a roller coaster together.
Other photos from the trip show the duo posing with Mickey Mouse with their sons and showcase how both Ciara and Jackson wore all black outfits.
Jackson is currently traveling as part of her State of the World tour. Ciara's husband Russell Wilson and the couple's 5-month-old daughter Sienna Princess were not in attendance at Disneyland.