Duwayne Brooks has called on the Home Secretary to "remedy the wrongs" exposed by the Ellison review into the Stephen Lawrence murder investigation.
Brooks' solicitor Jane Deighton said the findings of the report could be the "basis for a series of legal actions against the police".
Mr Brooks, who was with Stephen Lawrence on the night he was murdered in 1993, said his attempts to move on from the trauma had been hampered by the way he was treated by the police and the manner in which the case was "mishandled".
However, the statement said it would make the situation "worse if it is Duwayne who has to take the initiative to get redress", claiming it should be the state to "remedy the wrongs".
Ms Deighton said Mr Brooks invited the Theresa May to "respond to us by setting out how the state could now start to put things right" during a meeting between the two.
Metropolitan Police Commissioner Bernard Hogan-Howe has said the publication of yesterday's Ellison Report was one of his "worst days" he has seen as a police officer.
The report concluded that evidence of police corruption had been found in the case of murdered black teenager Stephen Lawrence.
Mr Hoga-Howe told The Evening Standard: "This was a devastating report for the Metropolitan Police and one of the worst days that I have seen as a police officer.
“To see Neville and Doreen Lawrence struggling through their tears was awful. The Met has come to know them well and I have enormous respect for their quiet dignity and powerful determination to see justice, which I share.
“I cannot rewrite history and the events of the past but I do have a responsibility to ensure the trust and the confidence of the people of London in the Met now and in the future. This will need a considered response to meet head-on the concerns that have been expressed in yesterday’s report.”
Former Metropolitan Police commissioner Lord Paul Condon said today "at no stage did I ever authorise, or encourage, or know about any action by any undercover officer" in relation to murdered Stephen Lawrence's family and friends.
David Cameron has said a public inquiry into the work of undercover policing will "make sure we get to the truth".
The inquiry was commissioned after a report into the police inquiry into the murder of Stephen Lawrence uncovered evidence of corruption.
The Prime Minister added: "It should have not taken this long and the Lawrence family have suffered far too much."
Several of today's papers lead with strong headlines after the report into the police inquiry into the murder of Stephen Lawrence uncovered evidence of corruption.
Almost 21 years after Stephen Lawrence was stabbed to death, the Home Secretary has ordered a public inquiry into undercover policing .Read the full story ›
Our Senior Correspondent Ronke Phillips was with Neville Lawrence as he watched the Home Secretary deliver the report. He spoke about the fight for justice, and how it was far from over.
Stephen Lawrence's mother Baroness Lawrence fought back tears in the House of Lords as she said she and her family had endured "21 years of struggle" and there was "still more to come" following a review into the original investigation into her son's murder.
Doreen Lawrence tells ITV News should be resignations of anyone still involved with spying at Met Police & Met still can't be trusted today.
The mother of Stephen Lawrence told ITV News it was a "disgrace" that the Metropolitan Police were "spying" on her family when they were mourning the loss of their son.
Doreen Lawrence added that all the family wanted "was to catch Stephen's killers" but it was clear the Met "had a different agenda."
Ms Lawrence's comments come after a report into the police inquiry into the murder of Stephen uncovered evidence of corruption.