Video clips of the funnyman in his best-known role as George Jefferson were shown at the service held in the Cielo Vista Church in El Paso, Texas.
A symbolic dove was then released as Hemsley, who served four years in the United States Air Force, was interred at the Fort Bliss National Cemetery.
The actor passed away of lung cancer on 24 July (12) but his burial was delayed and his body kept at a funeral home while the courts considered a dispute over his estate.
His longtime friend Flora Enchinton Bernal said after the burial ceremony, "The best way I can describe it is by how we released a dove. Just set him free, let him be. Let him explore the universe, be one with the universe."
Bernal was listed as a benefactor in Hemsley's will, but the late TV legend's half-brother challenged it. A judge declared the document valid earlier this month (Nov12).