Speaking to BBC Radio Five Live, Donald, who played under Woolmer at county and national level and was a close friend, said that he disagreed with the decision of the International Cricket Council (ICC) to push ahead with the tournament in the Caribbean.
"I just don't know how this World Cup can continue under the shadow of what's happened," he said. "World Cup 2007 will be forever remembered for this."
Woolmer was found unconscious in his hotel room in the Jamaican capital Kingston on Sunday, a day after Pakistan had been knocked out of the World Cup by Ireland, and was pronounced dead after being taken to hospital.
Police announced on Thursday that the 58-year-old had been strangled to death and have opened a murder investigation.
"My personal opinion would have been to stop, but knowing Bob he would have wanted this to go ahead," Donald acknowledged..
"I think everyone will continue this World Cup but, at the back of their minds, know that a tragedy took place."
"I just hope the individuals or individuals are brought to justice because Bob was a great man and would never go to the lengths to put his life in danger."