Fans last saw D'Angelo at the Apollo Theater in 2021.
The after-party will include sets from DJ Jazzy Jeff and Erykah Badu aka DJ Lo Down Loretta Brown.
Method Man and Redman are also on the festival's lineup alongside other musical acts.
The festival's headliner reportedly ended her performance after only 30 minutes.
The festival returns this May in Atlanta.
Spin these Hip-Hop and R&B songs from some of music's real-life lovers of the past and present.
Davis blazed a path for future acts like Madonna, Prince, Janelle Monae, and Erykah Badu.
Tickets go on presale this Friday, Dec. 3.
During a performance with BBC Radio 1Xtra Live Lounge, she also sang singles from 'Over It' and 'Still Over It.'