In the video, the former stylist gently separates her eldest daughter's hair and combs through it as Beyoncé expresses her annoyance over her mother's commentary.
"Au naturel", Knowles-Lawson repeatedly says in the video, to which Beyoncé responds: "Mama, that's really annoying. I mean, very annoying."
In the Instagram caption, Knowles-Lawson wrote: "I was trimming my baby's hair today and I am mocking Neal!", in reference to the singer's hair stylist Neal Farinah.
The 65-year-old added that she was "getting on her [daughter's] nerves".
Farinah also shared the video on his Instagram account, writing in the caption: "WHAT WEAVE WHAT WIG. YES YES ALL NATURAL."
Several of Knowles-Lawson's Instagram followers expressed their delight over the fact the businesswoman still styles her daughter's hair.
"There's just something about seeing black mothers still doing the hair of their daughters that makes me emotional. This is beautiful!" one person commented.
Many also praised the length of Beyoncé's locks, with one writing: "I knew the Queen's hair was long but I didn't know it was THIS long. This right here is #goals."
Earlier this month, Knowles-Lawson opened up about what it was like raising her daughters Beyoncé and Solange, revealing a special tradition she practised with the pair throughout their childhoods.
While attending Summit21, a two-day conference in Atlanta which celebrates black girls and women, the fashion designer said that she would allocate a day every week to each of her children.
"As Solange got older, I would spend Wednesdays with her and help with homework and do those types of things and just devote that day to her, and then one day to Bey," Knowles-Lawson said.
Beyoncé recently attended the 2019 Wearable Art Gala in Santa Monica, California, an event which was co-founded by her mother and step-father, Richard Lawson.
The design also featured feathers protruding from the lion face to emulate a mane.