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Jose F. Promis from AllMusic deemed the song an "assembly-line ballad". A reviewer from Billboard declared it as "superb" and "infectious". Dave Sholin from the Gavin Report commented, "Close to beginning her fourth decade as the reigning Queen Of Soul, it's a special song like this one, penned by Babyface and Daryl Simmons, that really allows Aretha to utilize her amazing vocal range. Her finest effort in many a moon should put her back on Top 40 in a big way." Another Gavin Report reviewers, Bill Speed and John Martinucci concluded with that the singer "presents "Willing to Forgive" tenderly but with the in-your-face honesty that has become her soulful trademark."
Pan-European magazine Music & Media wrote, "Whereas most contemporary dance singers give everything at the wrong time, Aretha wonderfully restrains herself on this entrancing ballad. It's all about dosing your vocal power." Alan Jones from Music Week stated, "A powerful R&B ballad draws a scorching performance from Aretha, whose commitment and attack do her credit." James Hamilton from the Record Mirror Dance Update described it as a "pleasant enough 76bpm radio ballad".
