Beyonce led an all-star line-up including Ed Sheeran, Jay-Z and Usher for the climax of a year of events celebrating the centennial of Mandela's birth in 1918, and to raise money for charity.
Scores of festival goers have shared their horrific experiences in and around the FNB Stadium following Sunday's event.
The annual festival, created by the Global Poverty Project, has been up and running since 2012, with concerts held all over the world, including New York City.
Seven people have been arrested.
But Big Concerts' Justin Van Wyk says that by law, the police is responsible for providing safety.
It was an event thousands of South Africans were looking forward to for months, but moments after the concert finished a nightmare ensued for many just down the street from the extravagant event.
Makhura said he has sought a detailed report from South African Police Services (SAPS) and Johannesburg Metro Police (JMPD), saying that police visibility post the festival was undeniably one of the key areas of concern as expressed by a number of people.
"We have been working to support people getting home safely", it said.
Witnesses took to social media to share how chaotic scenes unfolded at a Sasol garage outside FNB stadium, Briefly.co.za gathered.
Police minister Bheki Cele reiterated Naidoo's comments that there was no reported violence outside the stadium and that those who fell victims should lay charges with the police.
He said there was a stampede when someone pulled out a gun. "The police and JMPD were responsible for the bylaws in the precinct and overall safety and security of the event".