The mayor made the comment during a question time session at the London Assembly on Thursday (December 14).
Mr Khan answered a question from fellow Labour politician and assembly member for Brent and Harrow Navin Shah regarding how the mayor will ensure the "highest standards" of fire safety in tower blocks across the capital city.
On the tragedy's six month anniversary, the mayor said: "It is absolutely essential we learn every lesson we can from this terrible tragedy.
"I continue to call on the government to ensure the Grenfell Tower public inquiry report [is published] as soon as possible and the review of fire and safety regulations is as full and effective as possible.
"I have also asked the prime minister to work with me to ensure residents are given a proper voice in the issues that affect them. I am also backing the Mirror's campaign to put sprinklers in all social housing across the country.
"As I have said before, retro-fitted sprinklers is the best option in reducing fire risk in tall buildings."
The Mayor of London said that the government must ensure councils and other organisation receive sufficient funding in order for sprinklers to be installed.
He warned that developers will need to be explicit in how they can achieve high fire and safety standards at the planning application stage.
This includes a fire report and an independent third party "suitably qualified" assessor in order for the "highest of standards to have been met".
'RAF Northolt should not change'
Earlier, Mr Khan responded to UKIP assembly member Peter Whittle's question regarding RAF Northolt over possible plans for more commercial flights at the base.
Both the UKIP politician and the mayor agree there should be no additional flights at the air base even after a £45 million renovation and consultation with 3,000 residents.
The mayor said: "I am absolutely clear that the role of RAF Northolt should not change and should not be used for more commercial flights.
"This is reiterated in my new draft plan which states any significant shifts in the operation of an airport should be refused.
"The government has announced that RAF Northolt will close for some months in 2018 to undertake improvement to its runway and its life.
"However, I am not aware that this is linked to any proposals to increase the number of the commercial flights using the airport nor are any such plans in development."
He added: "I have written to the secretary of defence for clarification about the scope of proposed works and seek assurances that this will not permit increased commercial flying.
"My formal powers in relation to RAF Northolt are very limited but I will do what I can ensure the Ministry of Defence (MOD) does not introduce additional commercial flights to the airport.
"Aviation noise remains a significant concerns to hundreds of thousands of Londoners and I will continue to make the case for its impact to be fully addressed at all airports regardless of expansion."
Keep up to date with the latest news in west London via the free getwestlondon app.
You can set up your app to see all the latest news and events from your area, plus receive push notifications for breaking news.