Well, Madonna is a master (mistress?) at the spectacular open-air arena performance, I've attended her concerts (and had to wait for her 2 hours late). And of course the limitation here is that the staging has to be brought out and assembled within minutes over a grass football field, then quickly removed so the game can resume. It really is amazing what they accomplish, because other concert venues can take days to construct.
Beyoncé was good, and I think her voice is better than Madonna's. She's certainly a stunningly beautiful woman, perhaps the most lovely on stage today. But Madonna remains the most athletic of the divas, and can sustain a continuous activity level that others cannot. When you consider her age it's almost supernatural. (Did you see her stumble on the bleachers, though?)
Although I'll give a plug to my personal favorite, just cause I like her and have followed her career for over 40 years, and that's Bette Midler. I haven't seen her onstage in about 6 years, but last time I did, already in her 60s, she had more energy and put more into her show than performers 1/3 her age. And she's just funny, witty & spontaneous onstage, as you would expect, with an audience rapport the Madonnas, Chers and others don't have. Those years in the Continental Baths with Barry Manilow still show.