Williams died on August 11 aged 63 after committing suicide. Brosnan, while paying tribute to the 'Good Will Hunting' actor, said it is a sad time for the industry, reported Digital Spy.
"It is a deeply sad time for us all on the loss of Robin Williams. My first day on set, they said, 'Do you want to meet Robin' I had never met the man, I was so excited. I was so thrilled to have this job in the company of this great star comedian.
"I walked into the trailer and there was Robin in a pair of Ugg boots, hairy legs, shorts, Hawaiian shirt and hairy chest. That's how I met Robin Williams, and that's how I met Mrs Doubtfire. And I had the time of my life," he said.
"Every day was just sheer magic with the man. His hilarity, his grace, his brilliance of mind and soul. His reverence, sincerity. (It's a) deep loss," the 61-year-old actor.
Williams cut his wrist before hanging himself with a belt. Brosnan said, it is difficult to think of the actor suffering such pain before his death.
"It really has cut deep into all our hearts that he is gone and that he suffered in such pain. He will be loved forever and missed forever," Brosnan said.