Mr Jackson is one of the leading civil rights campaigners of his generation, and in 1965 marched with Martin Luther King Jr in Selma, Alabama.
The Commission on Race and Ethnic Disparities was set up by Boris Johnson following Black Lives Matter protests in the UK.
It concluded that Britain was a “successful multi-ethnic and multicultural community” which was a “beacon to the rest of Europe and the world”.
The 258-page report has faced heavy criticism from British campaigners and politicians.
Baroness Doreen Lawrence, whose son Stephen was murdered in a racially-motivated attack in London in 1993, said the report’s authors were “not in touch with reality”.
“My son was murdered because of racism and you cannot forget that. Once you start covering it up it is giving the green light to racists. You imagine what’s going to happen come tomorrow. What’s going to happen on our streets with our young people? You are giving racists the green light,” said Lady Lawrence.
Historians say that as many as 13 million Africans were shipped across the Atlantic as slaves over a span of 400 years.
Britain is estimated to have transported around three million slaves, according to the National Archive.
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