You will find this kind of result in
Blakers, A. "Some relations between homology and homotopy groups". Ann. of Math. (2) 49 (1948) 428--461.
I am pretty sure it is in Massey's book on Singular Homology, from a cubical viewpoint.
Proposition 14.7.1 of Nonabelian Algebraic Topology gives a deformation of the singular cubical complex of a space onto that coming from a filtration, under conditions which are satisfied in the case of a cellular filtration.
Later: Here is the detail of the proposition. For the question you can assume $X_*$ is the skeletal filtration of a CW-complex and $R X_*$ is the cubical set of cellular maps $I^n_* \to X_*$:
Let $X_*$ be a filtered
space such that the following conditions $\psi (X_*, m)$ hold for
all $m \geqslant 0$:
$\psi (X_*, 0) :$ The map $\pi_0 X_0 \rightarrow
\pi_0 X$ induced by inclusion is surjective;
$\psi (X_*, 1) :$
Any path in $X$ joining points of $X_0$ is deformable in $X$ rel
end points to a path in $X_1$;
$\psi (X_*, m) (m \geqslant 2
) :$ For all $\nu \in X_0$ , the map
$$\pi_m (X_m , X_{m-1} , \nu ) \rightarrow \pi_m (X, X_{m-1} , \nu
)$$ induced by inclusion is surjective.
Then the
inclusion $i \colon RX_* \rightarrow KX=S^\square X$ is a homotopy
equivalence of cubical sets.
The proof is quite direct by induction because the relative homotopy groups may be defined by maps of cubes, and in cubical sets, homotopies are defined using cubes.