Mick Jagger was back onstage with The Rolling Stones in Chicago on Friday night, less than three months after undergoing heart valve replacement surgery.

The band kicked off the first date of the North American leg of their No Filter tour in front of a sold-out crowd of 60,000 at Soldier Field in Chicago, having originally planned to start the tour in Florida last April. They are due to play Soldier Field again on Tuesday.

"It feels pretty good!" said Jagger as he looked out at the Chicago crowd on Friday night.

"We love Chicago so much we decided to start the tour here instead of Miami," the 75-year-old said.

In his first post-surgery interview earlier this month, the Rolling Stones frontman said it has been business as usual since the operation.

He told Toronto radio station Q107: "I'm feeling pretty good.

"Been rehearsing a lot lately in the last few weeks ... This morning [I did] a bit of gym. Nothing crazy. Then I go into rehearsal with the rest of the band."

The tour is scheduled to run until August 31 in Florida.