Comrades maintained a guard of honour by the 25-year-old's body overnight at Bury Parish Church, before family, friends and veterans were among those who gathered for the service on Friday.
The brutality of Fusilier Rigby's killing, which happened in broad daylight, sent out shockwaves.
He was hit by a car and then attacked by two men with a meat cleaver and a knife in a vicious assault in front of eyewitnesses who described the attack as "crazed".
In the days that followed, tributes were paid in the Stormont Assembly and a book of condolence was opened at Belfast City Hall.
Prime Minister David Cameron and London Mayor Boris Johnson were among the dignitaries who joined Fusilier Rigby's heartbroken family - including his two-year-old son - for his funeral.
Today we stand shoulder to shoulder with his family and friends. We will continue to do so in the years to come.
Lieutenant Colonel Jim Taylor
In his eulogy, Fusilier Rigby's commanding officer Lieutenant Colonel Jim Taylor said: "Fusilier Lee James Rigby, or Riggers to his friends in the Army, was an extremely popular soldier.
"A larger-than-life personality, he loved to perform and belonged in the Second Fusiliers' Corps of Drums. He was truly charismatic.
"To be with Lee was to be where it was most fun - the centre of good times and much mischief."
Fusilier Rigby was a drummer in the 2nd Battalion Royal Regiment of Fusiliers, and had served in Afghanistan as a machine gunner.
He was attached to the regimental recruiting team when he was killed as he returned to Woolwich barracks in south east London from the Tower of London on 22 May.
"Today we, his regimental family, salute a fallen comrade," Lieutenant Colonel Taylor added.
"A talented soldier and musician. A larger-than-life character. A loyal friend and brother-in-arms. A gentle soul. Above all a true Fusilier - daring in all things.
"We all feel his loss keenly. We will remember him with pride always.
"So, thanks be to God for Lee Rigby - father, husband, son, brother, friend, Fusilier.
"We will remember him."