Late singer Aaliyah. Picture: AP

Missy Elliott has penned a touching tribute to Aaliyah to mark the 17th anniversary of her death.

The American singer was killed in a plane crash in the Bahamas on 25 August, 2001, and to mark the anniversary, Missy has taken to Twitter to share a video of herself writing a handwritten note to Aaliyah.

It reads: "Aaliyah, we miss you so much. But your legacy will live on forever and ever!"

The heartfelt tribute was captioned: "Aaliyah (Babygirl) I can only imagine how great you would be today winning oscars [winking emoji] & creating sick music & still setting fashion trends! Your mom & brother @RAD_6 & your fans been holding it down 4 u [love heart emoji] you will always be A One in A Million sleep peacefully angel Babygirl [praying emoji] (sic)"

Missy, 47, previously revealed that as well as being a hugely talented singer and actress, Aaliyah was also incredibly funny.

She shared: "Aaliyah, she was like a comedian. She always wanted to laugh."

The duo first worked together during the mid-1990s and Missy was initially fearful that the singer - who passed away at the age of 22 - would be a diva.

However, they immediately struck up a friendship and Missy loved spending time with the '4 Page Letter' hitmaker in the recording studio.

Recalling their first meeting, Missy - who first worked with Aaliyah on her 1996 album 'One in a Million' - said: "We were nervous when we first worked with her because nobody knew who we was.

"She came in and was so warming; she made us immediately feel like family."