In court papers filed in Los Angeles, Wonder, 62, gave irreconcilable differences as the cause and listed the couple's date of separation as October 2009.
The papers showed that the Superstition singer was asking for joint custody of the couple's two boys, 10-year-old Kailand and seven-year-old Mandla.
The singer, real name Stevland Morris and blind from birth, signed the papers using two fingerprints and agreed to pay support for his wife and children.
He also requested that all his earnings after the separation were kept separate from the couple's assets.
Wonder and Millard Morris were married in September 2001.
The singer was previously married to Motown singer Syreeta Wright from 1970 to 1972, and has had several relationships since, from which he has seven children.
Wonder rose to fame as a child musical prodigy in the 1960s and has since won 22 Grammy awards and a Grammy lifetime achievement award for his work.
The divorce bid comes as two people await trial accused of extorting Wonder over a video portraying him in a negative light.
Wonder's cousin, Alpha L Walker, 38, and Walker's girlfriend, Tamara Diaz, have each pleaded not guilty at a Los Angeles court.
The suspects allegedly tried to obtain \$5m (£3.1m) from the singer by threatening to go to the media with information they claimed would embarrass him.
They were arrested in May after receiving \$10,000 (£6,377) from Wonder's lawyer in a police sting where undercover officers posed as representatives of the musician.
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