The British singers treated fans to a version of Williams’s hit Angels.
Following the performance, Sheeran wrote on Instagram: “Got a lot of love for this guy. We just watched the Belgium England game and now we are watching Love island. Life is about balance. Thanks for guesting today lad @robbiewilliams x.”
Williams replied: “Thanks for having me Ed, what an honour and what a special night in Amsterdam. You’re my new boy crush x .”
On Sunday, Taylor Swift thanked Williams for a “spectacular moment” after he joined her on stage at Wembley Stadium.