The 47-year-old singer and actor recently made a return to the spotlight and became upset about criticism of her appearance.
Brandy posted a selection of glamorous pictures of herself on Instagram, writing "Haayyy Beauty.
"Perhaps we've been looking for it in all the wrong places. In youth. In perfection. In approval. In bodies that never change and faces that never age. But life was never meant to leave us untouched," she wrote.
"It shapes us. It humbles us. It refines us. Every season leaves its signature upon us. And maybe that's where beauty has been all along. Not in escaping change, but in becoming through it."
She went on to urge people not to judge others by their appearance "because everyone is carrying a story we cannot see".
"I've learned that it takes only a moment to form an opinion about someone's appearance, and a lifetime to understand what they've lived through. So may we become gentler with one another.
"Not because everyone is fragile, but because everyone is carrying a story we cannot see. Our words have weight. Our judgments have weight. Our kindness does too."
Brandy is best known for her sitcom Moesha and Disney's 1997 live-action Cinderella, along with hit singles including The Boy Is Mine and Have You Ever?
She spent many years out of the spotlight but in March, she stepped out in Los Angeles to receive her star on the Hollywood Walk of Fame.
Brandy released her memoir, Phases, the same month, where she opened up about her drama with The Boy Is Mine collaborator Monica, dating Wanya Morris when she was just 16 and battling an eating disorder as a teenager.
She encouraged people to remember that everyone is "someone's child" and should not be judged harshly for their appearance.
"If this post leaves you with anything, I hope it's this: Before you speak about someone's body, before you speak about someone's face, before you decide who they are by what you see, remember, you are looking at someone's child. Someone's friend. Someone's dream. Someone's life. A soul. And souls have always been more beautiful than surfaces. love bran."
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