Wonder, 61, was inducted into the Apollo Legends Hall of Fame and given a plaque on the Apollo Walk of Fame, located below the theater's marquee.
Wonder performed with a cast of friends and admirers at the gala, including Tony Bennett, Chick Corea, Paul Shaffer and Doug E. Fresh. Bennett also presented the honor to Wonder.
"It's a moment to cherish and remember, relishing in the memories of the times that I've been at the Apollo, as well as this night, the great people that came out to support me being here," Wonder said in an interview. "It's a great thing to be one of those people in the Hall of Fame for the Apollo."
Wonder has been making hits for five decades, getting his start as a child prodigy and then evolving into one of the most lauded and respected artists in music. He now joins other Apollo legends including Aretha Franklin, James Brown, Ella Fitzgerald and Michael Jackson.
The Associated Press contributed to this report.