Other members of the Bond cast and crew - including Dame Judi Dench - were invited to join family members at the low-key service.
The 85-year-old Welsh-born actor - who appeared in all but two of the 19 Bond films - died in a car crash three months ago.
Bond number three Roger Moore attended the service in St Paul's Church, Knightsbridge, London.
The four other 007s - Sean Connery, George Lazenby, Timothy Dalton and Pierce Brosnan - were unable to attend.
Other members of the Bond cast and crew - including Dame Judi Dench - were invited to join family members at the
low-key service.
Llewelyn died in hospital following a head-on collision on the A27 near Firle, East Sussex.
He was driving from a book signing at Drusillas Zoo Park, Alfriston, near Eastbourne, on December 19 last year.
He was airlifted to Eastbourne District General Hospital after being cut free from the wreckage of his Renault Megane following a collision with a Fiat Brava.
Moneypenny
Llewelyn died three hours later of massive internal injuries.
His funeral was held at a church in Battle where he married his wife Pamela more than 60 years ago.
The funeral was attended by Samantha Bond - who played Miss Moneypenny in the latest Bond film The World Is Not Enough - and Colin Salmon who played M's chief of staff.