The couple tied the knot at his Bridgehampton estate in New York, with photos of their special day shared to his Instagram and Twitter pages.
"I'm so happy, finally a keeper," he penned beneath a series of snaps, showing the couple exchanging rings in the intimate service.
The ceremony took place next to the water's edge and Kamilah looked stunning in a white lace wedding dress.
While the pair have kept their relationship largely under wraps, they are thought to have been an item for a few years and were pictured together for one of the first times at 2019's Venice Film Festival, reported MailOnline.
Waters' latest wedding comes six years after he divorced Laurie Durning in September 2015 after three years of marriage. They got engaged in 2004.
He was previously married to childhood sweetheart Judy Trim from 1969 to 1975, Lady Carolyne Christie - the mother of his kids Harry, 44, and India, 43 - from 1976 to 1992, and Priscilla Phillips, with whom he has son Jack, 24, from 1993 to 2001.
Roger Waters met Kamilah when she worked as a driver for one of his concerts.
"I was in the same place for two weeks and we were being transported between the hotel and the stadium. My security guard would sit with her and they'd talk while I was in the back. I don't know, something attracted me," he recalled in a 2018 interview with Infobae. "One day I said, 'Excuse me,' and she turned around. 'Did someone ever tell you that you have beautiful cheekbones?' I saw a small reaction, and that was the beginning."