Roy Hodgson and Gareth Southgate, England coaches past and present, were also at the service at St Luke’s and Christ Church in Chelsea.
Wilkins earned 84 England caps, 10 of them as captain, making him the 14th most capped England player of all time.
He died at St George’s Hospital in Tooting, south London, following a heart attack in April, aged 61.
In a glittering playing career, the midfielder turned out for 11 different clubs and was on the coaching staff of several more.
Born in Hillingdon in Middlesex in 1956, he is most commonly associated with Chelsea, where he worked his way through the ranks, making his debut against Norwich aged 17 in 1973.
Wilkins also had spells at Manchester United, AC Milan and Rangers, and latterly worked as a pundit for Sky Sports and talkSPORT.
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He won the FA Cup with Manchester United in 1983 and the Scottish title with Rangers in 1989.
Wilkins leaves behind his wife, Jackie, and children, Jade and Ross.