The Motown crooner was 49 at the time of his death.
His son Bruce posted a tribute on Facebook on Monday.
"There's no words in the world that can express how I feel right now," he wrote.
Bruce continued: "I love you Daddy thank you for being awesome thank you for being loving thank you for being Who You Are I pray to God and we will meet again. I love you Daddy R.I.H KING WILLIAMSON."
Williamson joined The Temptations in 2006 before leaving the group in 2015 to pursue a solo career.
He was set to perform at a pay-per-view concert at the end of the week. The singer was also reportedly working on a gospel project titled “Send the Rain” prior to his death.
Williamson had always desired to be a part of the legendary Motown group prior to joining.
"I never lost the dream of wanting to be a Temptation," he said in an interview with Chapter & Verse Network in 2016.
The singer added: "But I didn't want to be an imitation or one who impersonates my predecessors. I wanted to be myself."
Williamson eventually sang lead on the albums “Back to the Front” and “Still Here” with the group.