It's not really a cover, Gladys Knight recorded it first, but it was written for Motown as with many of the songs at the time they were used by several artists at the same time, The Miracles and Marvin Gayle were already performing it at the time of the original release.
Written by the Stones, released first by the "Mars Bar" lass , recorded & released by the Stones the following year. Here are both versions: