Visible Light Communication (VLC) is a promising technology for indoor wireless communication due to its abundant unregulated spectrum and inherent security. However, VLC faces limitations in terms of its narrow modulation bandwidth, which affects its data transmission capabilities. This paper proposes a novel approach for improving downlink VLC performance by leveraging multiple-input multiple-output (MIMO) technology and orthogonal time frequency space modulation (OTFSM). The research focuses on downlink communication in low mobility scenarios and introduces the concept of Non-Orthogonal Multiple Access (NOMA) combined with OTFSM (NOMA-OTFSM) to enhance transmission efficiency. The objectives of the study are to reduce the peak-to-average power ratio (PAPR) and optimize the bit error rate (BER) under high signal-to-interference-plus-noise ratio (SINR) and signal-to-noise ratio (SNR) conditions. To achieve these objectives, the proposed approach incorporates interference cancelation techniques in the receiver, utilizing either a frequency-domain zero-forcing linear equalizer (FD-ZFLE) or a nonlinear decision feedback equalizer (FD-DFE) with user power allocation. The results demonstrate that the NOMA-OTFSM approach outperforms NOMA-OFDM VLC systems, offering higher spectral efficiency, improved BER reliability, lower latency, and reduced PAPR, particularly in multi-user MIMO-VLC systems.