The coffin, topped with the Royal Standard and Imperial State Crown, was carried to Westminster Abbey on the State Gun Carriage of the Royal Navy, drawn by 142 sailors. King Charles III and other senior members of the Royal Family followed behind on foot.
Streets around Westminster were packed with people hoping to catch a glimpse of the procession from Westminster Hall to the Abbey, where the funeral service was held.
Some 2,000 guests were inside the Abbey for the funeral service, including wider members of the Royal Family and dozens of world leaders and politicians from across the globe.
While the streets of Westminster were packed, other parts of London were eerily quiet with many people using the Bank Holiday to gather round TV screens at home to watch the historic events.
Big Ben tolled at one-minute intervals as the procession made its way slowly through the streets of the capital. Gun salutes were also fired every minute from Hyde Park.
Among the personal touches was a handwritten message from the King, which was placed on top of the coffin in a wreath of flowers cut from the gardens of Buckingham Palace, Highgrove House and Clarence House at his request. It read: “In loving and devoted memory. Charles R.”