Prince Friso's widow Mabel and their two daughters, Countess Luana, eight, and Countess Zaria, seven, led the congregation at Oude Kerk in Delft, where Mabel and Friso married in 2004.
Prince Haakon of Norway, his sister, Princess Märtha Louise, and brother-in-law Ari Behn also attended the ceremony as did U2 singer Bono and his wife Ali Hewson.
The congregation were dressed in black and navy with the exception of Luana and Zaria, who sported grey and white outfits as they walked hand-in-hand with their mother, Mabel, and grandmother, Princess Beatrix.
The ceremony was conducted by Nobel Peace Prize winner Desmond Tutu and featured speeches by Friso's two brothers, Willem-Alexander and Prince Constantijn.
Prince Friso tragically passed away at the age of 44 on 12 August after 18 months in a coma. Prince Friso following a skiing accident which took place in February 2012.
Several days later the Dutch royal family united for the funeral, which was attended by around 80 guests.
In a break with tradition, Friso was buried in the churchyard of the village's Stulpkerk rather than placed in the family crypt in Delft's Oude Kerk.