The athletes included table tennis player Sara Head, swimmers Anthony Stephens and James O'Shea, sailor Helena Lucas, sitting volleyball player Martine Wright and wheelchair basketball player Louise Sugden.
Baroness Tanni Grey-Thompson, the 11-time Paralympic gold medallist, also sings on the single.
The single was released this week while it comes after the British Paraorchestra performed at the Closing Ceremony of the Paralympic Games (pictured top).
Founded by British conductor Charles Hazlewood, the British Paraorchestra is pioneering a global movement to recognise and showcase disabled musicians.
They made their official debut at Orchestra in a Field in Glastonbury in July before headline performances at the Unlimited Festival at Southbank Centre as part of the London 2012 Festival.
They also composed and recorded the theme music for Jon Snow's Paralympic Show on Channel 4 and also live at the official team launch of ParalympicsGB.
"No-one of us want to be judged by our looks, our weight, our gender or our colour," said Hazlewood, who is now the British Paraorchestra's artistic and music director.
"This summer the Paralympics revealed the extra-ordinary individuals that make up the ParalympicsGB team to rapturous applause by audiences from all over the world.
"We want to do the same for disabled musicians and indeed all talented disabled people.
"The song 'True Colors' played by disabled musicians, sung by deaf and hearing children and supported by Paralympians captures the longing and the joy of being seen for who you truly are."
Meanwhile the Kaos Signing Choir for Deaf and Hearing Children is an award-winning, integrated project that brings together children and young people aged 4 to 18, of all abilities and backgrounds.
Their crowning moment came in July this year when they sang and signed the National Anthem at the London 2012 Olympic Opening Ceremony (pictured below) followed by a performance on the Eurostar platform to welcome Paralympians from the French and Belgian teams.
"Inclusion has always been at the heart of what we do," said the Kaos Signing Choir for Deaf and Hearing Children music director Suzy Davies.
"We believe that there are no limits to what anyone can achieve, both as an individual and especially as part of a team with a common goal.
"This wonderful collaboration has only reinforced this for us."
BPA chief executive Tim Hollingsworth added: "One of our ambitions for London was to change the way disabled people are perceived.
"Through the extraordinary performances of our athletes we achieved just that with the nation focussing on what people can do, rather than what they can't.
"This single is another demonstration of that – it is a joyful collaboration of talent from the world of music and sport.
"Through their support of the Paralympics, Britain showed the world what kind of nation we are – we hope that the country gets behind this single in the same way."
Contact the writer of this story at [email protected]