The band performed their 17-song-set using a drumkit with "Taylor" written on it, and near the end of their performance, drummer Chad Smith gave a heartfelt tribute to his late fellow drummer.
“We just found out about this two weeks ago, because Foo Fighters were supposed to play here tonight.
"We love Foo Fighters, and we love our brother Taylor Hawkins. This means a lot to us to be able to play for them.
“The guys in the band are here, they’re supporting. Taylor’s wife Alison and his whole family are here, we love them, we love Taylor"
Smith then got the crowd to chant, "we love Taylor."
The Foos and The Peppers have been mates for a long time - Foo Fighters opened for RHCP on their 1999 tour, and Smith has joined them onstage before at a gig in 2015.
Ahead of this tribute, Smith told Billboard he talked to Taylor's wife Alison.
"...It's going to be a celebration," Smith said.
"That's what she wants. She doesn't want it to be anything other than, 'Let's celebrate music, let's celebrate our friends, let's celebrate Taylor.'"
Have a watch of his tribute speech for Taylor below.