The award, re-named this year in honor of the former world heavyweight boxing champion, is given to individuals "who embody the ideals of sportsmanship, leadership and philanthropy."
Previous recipients include Special Olympics founder Eunice Kennedy Shriver, who recieved the inaugural award in 2008, and pro baketball Hall of Famer Magic Johnson, who was recoginzed in 2014.
Woods' full message appears in italics below:
"I'd like to congratulate Jack on receiving [Sports Illustrated's] Muhammad Ali Legacy Award. Every honor Jack receives is well-deserved, and this one, that recognizes the ideals of sportsmanship, leadership and philanthropy as tools for changing the world, is pretty special.
"Jack's tournament records are incredible, not just his 18 majors (plus two U.S. amateurs) and 73 PGA TOUR wins, but his 19 second-place finishes in the majors, which I think may be his most incredible stat. The way he would rise to every occasion with the shot it demanded under the circumstances are unparalleled. His skill, mind and determination allowed him to accomplish amazing things. My first real recollection of a major championship was his win at the 1986 Masters.
"Jack and Barbara are wonderful philanthropists supporting children's health. Among the many fantastic things they do is the Nicklaus Children's Health Care Foundation, which supports pediatric health-care services in Florida and nationally.
"I'm extremely happy for Jack, and I've always admired his accomplishments, but it's a lot more than that. He's an outstanding person, and I'm honored that I can call him a friend."