Martin Luther King III was speaking in front of more than 650 people from the football, politics and business worlds at the event and told those gathered that he was proud to be associated with the organisation.
He said: "There is not enough to be said to thank this organisation for what it is doing to stamp out racism and discrimination, sexism and homophobia in football.
"We live in a world where inclusion is warranted. Both my father and mother dedicated their lives towards eradicating those 'triple evils' my dad defined as poverty, racism and violence.
"Obviously we have not achieved those things yet, but change is coming in this nation and in the world. People must stand up against racism.
"We know what we should do, we know what we must do, but we just have to identify the will - when ability and will meet then results occur."
What is Kick It Out?
- Kick It Out is football's equality and inclusion campaign
- It works throughout football, educational and community sectors to challenge discrimination
- Funded by The FA, The PFA and The Premier League
- Founded in 1993 by Lord Herman Ouseley - established as a body in 1997
- Works internationally with FIFA, UEFA and FARE (Football Against Racism in Europe)
Martin Luther King III was one of a number of dignitaries speaking at the event in Wembley Stadium’s Great Hall.
Also among the speakers was Gordon Brown, who gave a rousing introductory speech. The former prime minister said that although great progress had been made over the past 20 years, more must be done to continue the drive to educate and inform the next generation against prejudice.
Brown said: “I am honoured to be here to celebrate an organisation which started in 1993 and is now through its actions against prejudice, discrimination, tolerance and injustice a British institution that makes me proud – and I believe makes the whole people of Britain proud as well.
“Let us use the next few years to fight racism wherever we see it. To fight intolerance in every part of the world. And to fight for the just cause that everyone here has stood up for for 20 years.”
“When ability and will meet then results occur”
Martin Luther King III
Later there was a screening of Kick It Out's 20-year anniversary film, and former Tottenham forward Garth Crooks led a panel discussion which included former FA director David Davies, former FA vice chairman David Dein and Gordon Taylor, the chief executive of the Professional Footballers' Association, all of whom played their part in helping the development of the initiative.
The man who founded Kick It Out in 1993, Lord Herman Ouseley, who has been a champion of equality and diversity for over 50 years, also delivered a stirring speech.
“In the 1980s I stopped going to football,” he said.
“I got fed up of sitting around watching seats being torn up, blood flowing and glasses and bottles flying around all over the place – and the stewards doing absolutely nothing about it.
"No one was interested in taking action – and we thought we have to do something about it. And that’s what we’ve been trying to do.
“Where I think we’re at now is we are beginning to see the fear being removed by players who are conditioned by the culture of silence. In the dressing rooms and on the training ground.
"The assertiveness shown by players like Kevin-Prince Boateng and during this season by Yaya Toure is setting the agenda of change.”
Focusing on the example set in recent times by a number of players, Lord Ouseley said his organisation backs and actively encourages direct action from those receiving abuse.
“I’ve said from day one that the players, and especially the black players, asserting themselves can make a difference,” he added.
“Direct action has always been the right action to bring about change. When Boateng walked off the pitch for me that was a very important signal of direct action and raising the stakes.”
Click here for more information about Kick It Out and its work