Kilpatrick is currently on trial on federal corruption charges. He is already on parole for a state obstruction of justice conviction.
Brooks says Kilpatrick wrote him a letter pleading for financial assistance for his family.
"As a pastor and community leader, my calling is to exhibit love and grace to all people - particularly to the forgotten and rejected members of society - even when it's uncomfortable. When we recently gave a benevolent gift to the Kwame Kilpatrick family, we were staying true to our mission," Brooks wrote in a statement. "This is not the first time that we have provided aid to a person that is not universally loved by all. It won't be the last."
State officials in Michigan are investigating because Kilpatrick is required to report gifts to his parole officer but reportedly made no mention of the donation from Pastor Brooks.
Kilpatrick still owes $800,000 in restitution to the city of Detroit.