Havana, Cuba: Pop singer Madonna celebrated her 58th birthday Tuesday strolling and dancing in Cuba, the latest US star to visit the communist island since it restored ties with Washington last year.

In a white shawl, black sunglasses and Panama hat, the singer wandered through the streets of Havana, followed by curious locals who took pictures with their phones, an AFP photographer saw.

"She is in Cuba to celebrate her 58th birthday in Havana along with her children, relatives and close friends," state news website Cubadebate said.

Madonna posted a photograph on Twitter of herself in a black dress with a design of yellow flowers and the Spanish message "Cuba libre" or "Free Cuba."

A video posted on Instagram showed her dancing to Cuban music in a restaurant in Havana's old city.

Cuban state newspaper Granma said Madonna was accompanied by her daughter Lourdes Leon, 19, whose father Carlos Leon is a US-based Cuban dancer and trainer.

After decades of hostility, Cuba re-established diplomatic relations with the United States last July and eased travel restrictions.

Actor Leonardo DiCaprio and singer Beyonce have been among the US stars to visit the island nation over recent months.