Hankerson married Gladys Knight in October 1974; after four years the couple divorced. He has one daughter and two sons; one with Knight, Shanga-Ali Hankerson and Jomo Hankerson, his oldest son, from a previous marriage. Hankerson is the brother of Diane Haughton and uncle to her and Michael Haughton's two children, American R&B singer Aaliyah and Rashad Haughton.
