A writer for
Associated Press described the song as "majestic" and "
gospel-styled", noting that "hearing R. Kelly's booming voice reach a crescendo while backed up by a choir is a rousing performance that will get many replays".
Larry Flick from
Billboard wrote that it is "highly inspirational" and "embodying the mind-set of the two superstars [Michael Jordan and R. Kelly]". He added, ""If I can dream it, I can achieve it." A great motivator for the children who will flock to the silver screen for Jordan". A reviewer from
Chicago Sun-Times viewed it as a "warm anthem". Ross Scarano from
Complex said, "Like it or not, R. Kelly's "I Believe I Can Fly" works because of R. Kelly. There's not another singer alive with the same combination of ability, earnest conviction, and personal demons—demons that Kelly believes he needs the listener's support to fight." He added that the singer "calls on strings and a choir and every bit of strength available in his lungs and vocal chords to rise above the broad struggle described in the lyrics."
David Browne from
Entertainment Weekly opined that the "go-for-it lyrics and florid orchestration seem to have been written with a future
Disney musical in mind." Tom Ewing of
Freaky Trigger noted "I Believe I Can Fly"'s "genuine power as a redemption song" and also called it "the most convincing self-help song". British newspaper
Lennox Herald picked it as the "undoubted highlight" of the
Space Jam album". Thessa Mooji from
Music & Media described it as a "dramatic ballad".
Music Week rated it three out of five, calling it "a smoochy gospel-tinged ballad". They added, "A huge hit in the US and should ignite here." A reviewer for
People Magazine labeled it as "schmaltzy but potent".
Sunday Mirror rated it five out of ten, writing, "'I believe I can soar' sings R. Kelly but I suppose we should be thankful that he's released a proper song for once instead of those awful rap cover versions which are clogging up the charts these days. It's taken from the film
Space Jam and if you bought
Toni Braxton's last single and liked
The Bodyguard then you will buy this for sure. I believe it will fly to the top of the charts though it makes me sore to say it." James L. Brown from
USC Today deemed it a "long slow
ballad". ==Impact and legacy==