The Rolling Stone tweeted his sadness at learning that Bobby had passed away after his publicist Sonya Kolowrat confirmed the news on Friday.
Bobby had suffered with Alzheimer's disease two years ago and had health issues including prostate cancer although the cause of his death is not yet known.
Ronnie Wood with Bobby Womack
"I'm so sad to hear about my friend Bobby Womack," wrote Ronnie on Twitter. "The man who could make you cry when he sang has brought tears to my eyes with his passing."
"My heart goes out to his family & friends and everyone who loved his music," he added. "Bobby you will be greatly missed xx"
Bobby, who had hits including Across 110th Street and Harry Hippie, influenced the Rolling Stones among other rock and roll bands in the 1960s.
I'm so sad to hear about my friend Bobby Womack ~ the man who could make you cry when he sang has brought tears to my eyes with his passing.— Ronnie Wood (@ronniewood) June 28, 2014
In 2012, with the help of Blur frontman Damon Albarn and XL Recordings president Richard Russell, Bobby relaunched his career and released a critically-acclaimed comeback album entitled The Bravest Man In The Universe.
Damon ackowledged his friend's passing on Twitter, writing "I will see my brother in church @RealBobbyWomack."
Bobby has recently performed at Tennessee's Bonnaroo festival and had been due to perform across Europe throughout July and August.