The legendary singer was presented with her award by university trustee Stephen Oxman during the graduation commencement on Tuesday, June 5 in New Jersey.
According to NJ.com, Oxman said: "With her singular 'Amazing Grace,' Franklin continues to traverse musical bridges 'over troubled water'.'"
Franklin previously received honorary doctorates from Berklee College of Music in 2006 and Yale University in 2010.
Franklin, who will perform at the Essence Music Festival in July, has revealed that a biopic about her life is under way.
"It's actually still very active, we've just been having a lot of conversations about who would play my dad and my family," she said. "So, right now it's a Mexican standoff."
Watch Aretha Franklin perform 'Amazing Grace' below: