| Year | Winner | Performance | Nominees | Ref. |
| 1967 | | "Crying Time" |
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| 1968 | | "Dead End Street" | "Funky Broadway" – Wilson Pickett "[(Your Love (Musiq Soulchild song)|Love Keeps Lifting Me) Higher and Higher|Higher and Higher]" – Jackie Wilson "Skinny Legs and All" – Joe Tex "Try A Little Tenderness" – Otis Redding | |
| 1969 | | "(Sittin' on) the Dock of the Bay" | "For Once in My Life" – Stevie Wonder "(You Keep Me) Hangin' On" – Joe Simon "I Heard It through the Grapevine" – Marvin Gaye "Who's Making Love" – Johnnie Taylor | |
| 1970 | | "The Chokin' Kind" | Doing His Thing – Ray CharlesThe Ice Man Cometh – Jerry ButlerLive & Well – B.B. King "Your Good Thing (Is About to End)" – Lou Rawls | |
| 1971 | | "The Thrill Is Gone" | "Get Me Back On Time, Engine Number 9" – Wilson Pickett "Patches" – Clarence Carter "Signed, Sealed, Delivered I'm Yours" – Stevie Wonder "War" – Edwin Starr | |
| 1972 | | "A Natural Man" | "Ain't Nobody Home" – B.B. King Inner City Blues (Make Me Wanna Holler) – Marvin Gaye Never Can Say Goodbye – Isaac Hayes We Can Work It Out – Stevie Wonder | |
| 1973 | | "Me and Mrs. Jones" | "Drowning in the Sea of Love" – Joe Simon "Freddie's Dead" – Curtis Mayfield "I Gotcha" – Joe Tex "Look What They've Done to My Song, Ma" – Ray Charles | |
| 1974 | | "Superstition" | "Call Me (Come Back Home)" – Al Green "I'm Gonna Love You Just a Little More Baby" – Barry White "Keep on Truckin'" – Eddie Kendricks "Let's Get It On" – Marvin Gaye | |
| 1975 | | "Boogie on Reggae Woman" | "Boogie Down" – Eddie Kendricks "Hang on in There Baby" – Johnny BristolMarvin Gaye Live! – Marvin Gaye "Rock Your Baby" – George McCrae | |
| 1976 | | "Living for the City" | Chocolate Chip – Isaac Hayes "L.O.V.E." – Al Green "Love Won't Let Me Wait" – Major Harris "Supernatural Thing, Part I" – Ben E. King | |
| 1977 | | "I Wish" | "Disco Lady" – Johnnie Taylor "Groovy People" – Lou Rawls "I Need You, You Need Me" – Joe Simon "I Want You" – Marvin Gaye "Lowdown" – Boz Scaggs | |
| 1978 | | Unmistakably Lou | "A Real Mother For Ya" – Johnny "Guitar" Watson "Ain't Gonna Bump No More (With No Big Fat Woman)" – Joe Tex "Got To Give It Up (Part 1)" – Marvin Gaye "It's Just a Matter of Time" – B.B. King | |
| 1979 | | "On Broadway" | "Close the Door" – Teddy Pendergrass "Dance with Me" – Peter Brown "I Can See Clearly Now" – Ray Charles "When You Hear Lou, You've Heard It All" – Lou Rawls | |
| 1980 | | "Don't Stop 'Til You Get Enough" | "Cruisin'" – Smokey Robinson "Don't Let Go" – Isaac Hayes "Love Ballad" – George Benson "Mama Can't Buy You Love" – Elton John "Some Enchanted Evening" – Ray Charles | |
| 1981 | | Give Me the Night | "Let's Get Serious" – Jermaine Jackson "Master Blaster (Jammin')" – Stevie Wonder "Never Givin' Up" – Al JarreauOne in a Million You – Larry Graham | |
| 1982 | | "One Hundred Ways" | "I Can't Live Without Your Love" – Teddy PendergrassNever Too Much – Luther Vandross "She's a Bad Mama Jama (She's Built, She's Stacked)" – Carl CarltonStreet Songs – Rick James | |
| 1983 | | "Sexual Healing" | "Do I Do" – Stevie WonderForever, For Always, For Love – Luther Vandross "The Other Woman" – Ray Parker Jr. "Turn Your Love Around" – George Benson | |
| 1984 | | "Billie Jean" | "International Lover" – PrinceMidnight Love – Marvin Gaye "Party Animal" – James IngramStay With Me Tonight – Jeffrey Osborne | |
| 1985 | | "Caribbean Queen (No More Love on the Run)" | Don't Stop – Jeffrey OsborneIn the Name of Love – Bill WithersIt's Your Night – James Ingram "The Woman In Red" – Stevie Wonder | |
| 1986 | | In Square Circle | Chinese Wall – Philip BaileyHigh Crime – Al JarreauThe Night I Fell in Love – Luther Vandross "You Are My Lady" – Freddie Jackson | |
| 1987 | | "Living in America" | "Give Me The Reason" – Luther VandrossLove Zone – Billy Ocean "The Rain" – Oran "Juice" Jones "Since I Fell for You" – Al Jarreau | |
| 1988 | | "Just to See Her" | "Bad" – Michael Jackson "In The Midnight Hour" – Wilson Pickett "Lies" – Jonathan Butler "Skeletons" – Stevie Wonder | |
| 1989 | | Introducing the Hardline According to Terence Trent D'Arby | Any Love – Luther VandrossCharacters – Stevie WonderJoy – Teddy Pendergrass "Nite and Day" – Al B. Sure! | |
| 1990 | | "Every Little Step" | Heart's Horizon – Al Jarreau "Batdance" – Prince "We've Saved the Best for Last" – Smokey Robinson "She Won't Talk to Me" – Luther Vandross | |
| 1991 | | "Here and Now" | "Misunderstanding" – Al B. Sure! "Whip Appeal" – Babyface "Round and Round" – Tevin CampbellJohnny Gill – Johnny Gill | |
| 1992 | | "Power of Love/Love Power" | Love Over-Due – James Brown "Can You Stop the Rain" – Peabo Bryson "How Can You Mend A Broken Heart?" – Teddy Pendergrass "Kissing You" – Keith Washington "Gotta Have You" – Stevie Wonder | |
| 1993 | | Heaven and Earth | "Humpin' Around" – Bobby Brown "Lost in the Night" – Peabo BrysonT.E.V.I.N. – Tevin Campbell "Jam" – Michael Jackson | |
| 1994 | | "A Song for You" | "For the Cool in You" – Babyface "Can We Talk" – Tevin Campbell "Voodoo" – Teddy Pendergrass "How Deep Is Your Love" – Luther Vandross | |
| 1995 | | "When Can I See You" | "I'm Ready" – Tevin Campbell "Wait for the Magic" – Al Jarreau "Always and Forever" – Luther Vandross "Practice What You Preach" – Barry White | |
| 1996 | | "For Your Love" | "Brown Sugar" – D'Angelo "This Is How We Do It" – Montell Jordan "I Hate U" – Prince "Baby's Home" – Barry White | |
| 1997 | | "Your Secret Love" | "Lady" – D'Angelo "A Change Is Gonna Come" – Al Green "New World Order" – Curtis Mayfield "Like a Woman" – Tony Rich Project | |
| 1998 | | "I Believe I Can Fly" | "For You" – Kenny Lattimore "Back To Living Again" – Curtis Mayfield "You Make Me Wanna..." – Usher "When You Call On Me / Baby That's When I Come Runnin'" – Luther Vandross | |
| 1999 | | "St. Louis Blues" | "Maybe You" – Maxwell "The Only One for Me" – Brian McKnight "My Way" – Usher "I Know" – Luther Vandross | |
| 2000 | | "Staying Power" | "Did You Ever Know" – Peabo Bryson "Fortunate" – Maxwell "Sweet Lady" – Tyrese "When A Woman's Fed Up" – R. Kelly | |
| 2001 | | "Untitled (How Does It Feel)" | "I Wanna Know" – Joe "I Wish" – R. Kelly "Stay or Let It Go" – Brian McKnight "Thong Song" – Sisqo | |
| 2002 | | "U Remind Me" | "Lifetime" – Maxwell "Love" – Musiq Soulchild "Love of My Life" – Brian McKnight "Missing You" – Case | |
| 2003 | | "U Don't Have to Call" | "Halfcrazy" – Musiq Soulchild "Let's Stay Home Tonight" – Joe "Take a Message" – Remy Shand "The World's Greatest" – R. Kelly | |
| 2004 | | "Dance with My Father" | "How You Gonna Act Like That" – Tyrese "Shoulda, Woulda, Coulda" – Brian McKnight "Step in the Name of Love" – R. Kelly "Superstar" – Ruben Studdard | |
| 2005 | | "Call My Name" | "Burn" – Usher "Charlene" – Anthony Hamilton "Happy People" – R. Kelly "What We Do Here" – Brian McKnight | |
| 2006 | | "Ordinary People" | "Creepin'" – Jamie Foxx "Let Me Love You" – Mario "So What the Fuss" – Stevie Wonder "Superstar" – Usher | |
| 2007 | | "Heaven" | "Black Sweat" – Prince "Got You Home" – Luther Vandross "I Call It Love" – Lionel Richie "So Sick" – Ne-Yo | |
| 2008 | | "Future Baby Mama" | "Because of You" – Ne-Yo "B.U.D.D.Y." – Musiq Soulchild "Please Don't Go" – Tank "Woman" – Raheem DeVaughn | |
| 2009 | | "Miss Independent" | "Can't Help but Wait" – Trey Songz "Here I Stand" – Usher "Take You Down" – Chris Brown "You're the Only One" – Eric Benét | |
| 2010 | | "Pretty Wings" | "The Point Of It All" – Anthony Hamilton "SoBeautiful" – Musiq Soulchild "There Goes My Baby" – Charlie Wilson "Under" – Pleasure P | |
| 2011 | | "There Goes My Baby" | "Finding My Way Back" – Jaheim "Second Chance" – El DeBarge "We're Still Friends" – Musiq Soulchild "Why Would You Stay" – Kem | |