Domenicali, who served as team principal at Ferrari between 2008-14, was among the first to pay tribute to the Williams figurehead.
“This morning Claire Williams called to inform me of the very sad news that her beloved father, Sir Frank Williams had passed away," said Domenicali.
"He was a true giant of our sport that overcame the most difficult of challenges in life and battled every day to win on and off the track.
"We have lost a much loved and respected member of the F1 family and he will be hugely missed. His incredible achievements and personality will be etched on our sport forever.
"My thoughts are with all the Williams family and their friends at this sad time.”