Celebrities, politicians, and fans have paid homage to the legendary soul singer Aretha Franklin, who died earlier this month of pancreatic cancer.

Franklin, renowned for hit songs such as "Respect" and "Chain of Fools", and celebrated for her earth-shaking live performances, was referred to for much of her life as the “Queen of Soul”. On Friday, in Detroit, she received a send-off fit for royalty.

Doors opened at the Greater Grace Temple at 8am for Franklin’s funeral, welcoming a procession of some of the most respected names in music and politics. Hillary Clinton and the former President Bill Clinton entered the chapel to a standing ovation, according to CNN, while celebrities such as Whoopi Goldberg, the actress, and Ariana Grande, the singer, streamed in behind them.

Vocalists Tony Bennett, Barbra Streisand and Diana Ross greeted attendees as they arrived, accompanied by the sounds of the Aretha Franklin Orchestra, according to the Detroit Free Press. Projected on the walls of the sanctuary were the words: “A Celebration Fit For The Queen”.

Mr Clinton, the Reverend Al Sharpton, and the Reverend Jesse Jackson delivered remarks at the funeral, along with family members including Franklin’s niece, Sabrina Owens, and lifelong friends such as singer Smokey Robinson. The Reverend Jasper Williams Jr of Salem Baptist Church delivered the eulogy.

Aretha Franklin's casket arrives at the Museum of African American History for the first day of public viewing

In his remarks, Mr Sharpton emphasised Franklin's contributions to social movements, recalling how the singer once embarked on an 11-city tour to raise money for the Reverend Martin Luther King.

"She was a civil rights activist when it wasn't popular," Mr Sharpton said. "She gave us pride, and she gave us a regal bar to reach. And that's why we’re all here."

While organisers insisted the ceremony was a service, not a show, the lineup of musical performers was enough to make any concert organiser jealous. Singer Faith Hill started the programme with a classic hymn, and Grande followed up with the Franklin hit "A Natural Woman".

Aretha Franklin – career in pictures Show all 50 1 /50 Aretha Franklin – career in pictures Aretha Franklin – career in pictures 1968 Aretha Franklin was born in 1942 and went on to earn the title ‘The Queen of Soul’ for her services to music since the late 60s Getty Aretha Franklin – career in pictures 1968 Aretha Franklin performs onstage in 1968 Getty Aretha Franklin – career in pictures 1969 Aretha Franklin on the Andy Williams Show NBC/Getty Aretha Franklin – career in pictures 1967 She signed to Atlantic Records in 1967 Rex Aretha Franklin – career in pictures 1968 Franklin achieved huge success with songs including “Spanish Harlem”, "I Say a Little Prayer" and “(You Make Me Feel Like) A Natural Woman.” Getty Aretha Franklin – career in pictures 1974 She first sang as part of a gospel at a Detroit church where her father, C.L, was the pastor before embarking upon a full-time career in 1960 Rex Aretha Franklin – career in pictures 1977 Portrait of American soul singer Aretha Franklin Getty Aretha Franklin – career in pictures 1977 She won 18 Grammys Rex Aretha Franklin – career in pictures 1980 Aretha Franklin has sold over 75m records worldwide Getty Aretha Franklin – career in pictures 1981 George Benson and Aretha Franklin at the Greek Theatre Rex Aretha Franklin – career in pictures 1986 Aretha Franklin Showtime TV Special. In 1987, Franklin became the first woman to be inducted into the Rock and Roll Hall of Fame Rex Aretha Franklin – career in pictures 1992 American music executive Clive Davis and Aretha Franklin attend an event together Getty Aretha Franklin – career in pictures 1993 Aretha Franklin, Michael Jackson and Diana Ross perform at the Inaugural Gala for President Bill Clinton Rex Features Aretha Franklin – career in pictures 1994 US actor Kirk Douglas applauds singer Aretha Franklin at a reception for the Kennedy Center Honors, which recognised American performance artists who have made lifetime contributions to American culture AFP/Getty Aretha Franklin – career in pictures 1997 Aretha Franklin singing during the inaugural gala dedicated to US President Bill Clinton in Landover AFP/Getty Images Aretha Franklin – career in pictures 1998 Aretha Franklin had a cameo appearance in cult classic 'The Blues Brothers 2000' Rex Features Aretha Franklin – career in pictures 1998 Aretha Franklin poses with the Blues Brothers John Goodman, left, J.Evan Bonifant, second left, Joe Morton, second right, and Dan Aykroyd, right, after performing at the 40th Grammy Awards at Radio City Music Hall in New York AFP/Getty Aretha Franklin – career in pictures 1998 Opera singer Luciano Pavarotti laughs along with singer Aretha Franklin and the group Boyz II Men after accepting the eighth MusiCares Foundation "Person of the Year" award in New York AFP/Getty Aretha Franklin – career in pictures 1999 US President Bill Clinton along with First Lady Hillary Rodham Clinton award singer Aretha Franklin with the 1999 National Medal of Arts and Humanities Award AFP/Getty Aretha Franklin – career in pictures 2001 Aretha Franklin with show host and producer Don Cornelius Getty Aretha Franklin – career in pictures 2001 Aretha Franklin performs at the conclusion of the Lane Bryant Spring/Summer 2001 Lingerie Show at Studio 54 AFP/Getty Images Aretha Franklin – career in pictures 2001 Aretha Franklin onstage performing at 'VH1 Divas Live: The One and Only Aretha Franklin' Getty Images Aretha Franklin – career in pictures 2002 Torchbearer Aretha Franklin carries the Olympic Flame during the 2002 Salt Lake Olympic Torch Relay in Detroit Getty Images Aretha Franklin – career in pictures 2003 Carly Simon, Alicia Keys and Aretha Franklin perform on stage during Clive Davis' pre-Grammy Gala Getty Aretha Franklin – career in pictures 2005 Aretha Franklin and actor Hugh Jackman perform onstage at the 59th Annual Tony Awards Getty Aretha Franklin – career in pictures 2005 Aretha Franklin is presented with the Presidential Medal of Freedom, the nation's highest civil award, by President George Bush at the White House Getty Aretha Franklin – career in pictures 2005 Aretha Franklin (L) and Stevie Wonder onstage at the 10th Annual Soul Train Lady of Soul Awards Getty Aretha Franklin – career in pictures 2006 Aretha Franlkin and Aaron Neville perform the National Anthem prior to the start of Super Bowl XL between the Seattle Seahawks and the Pittsburgh Steelers at Ford Field in Detroit, Michigan Getty Aretha Franklin – career in pictures 2006 Aretha Franklin appears at Berklee College of Music commencement in Boston along with singer Melissa Etheridge, who both received honorary degrees for their achievements in music Getty Aretha Franklin – career in pictures 2007 Aretha Franklin performs onstage at the 22nd annual Rock And Roll Hall Of Fame Induction Ceremony in New York Getty Aretha Franklin – career in pictures 2008 Aretha Franklin arrives at the 2008 MusiCares person of the year, which was honoring herself Getty Aretha Franklin – career in pictures 2008 Aretha Franklin accepts the Vanguard Award onstage during the 39th NAACP Image Awards in Los Angeles Getty Aretha Franklin – career in pictures 2009 Aretha Franklin and Josh Groban perform during the Mandela Day Celebration Concert in New York City. Getty Aretha Franklin – career in pictures 2009 Aretha Franklin performs onstage at the Rockefeller Center Christmas tree lighting Getty Aretha Franklin – career in pictures 2010 Aretha Franklin and Ron Isley perform with the Philadelphia Orchestra at the Mann Center for Performing Arts Getty Aretha Franklin – career in pictures 2010 Comedian Jamie Foxx leads singer Aretha Franklin to the stage as she is inducted into the Apollo Legends Hall of Fame Getty Aretha Franklin – career in pictures 2011 US President Barack Obama kisses Aretha Franklin as First Lady Michelle Obama, Vice President Joe Biden, Jill Biden and Interior Secretary Ken Salazar applaud after Franklin performed at the dedication of the Martin Luther King Jr. Memorial in Washington AFP/Getty Aretha Franklin – career in pictures 2011 Aretha Franklin and Tony Bennett perform onstage Getty Aretha Franklin – career in pictures 2011 Aretha Franklin and Oprah Winfrey during the taping of the second to last Oprah Winfrey Show at the United Center in Chicago AFP/Getty Aretha Franklin – career in pictures 2011 Aretha Franklin performs to a SRO audience at the Ryman Auditorium in Nashville Getty Aretha Franklin – career in pictures 2012 Aretha Franklin and William Wilkerson attend the BET Honors 2012 Pre-Honors dinner at the Corcoran Gallery of Art Getty Aretha Franklin – career in pictures 2012 Aretha Franklin performs during the BET Honors 2012 at the Warner Theatre Getty Aretha Franklin – career in pictures 2012 Aretha Franklin performs onstage at the 10th Annual TV Land Awards at the Lexington Avenue Armory Getty Aretha Franklin – career in pictures 2013 Aretha Franklin performs during the National Christmas Tree Lighting ceremony on the Ellipse near the White House in Washington AFP/Getty Aretha Franklin – career in pictures 2014 Reverend Al Sharpton and Aretha Franklin attend his 60th birthday celebration at the Four Seasons Restaurant Getty Aretha Franklin – career in pictures 2015 US President Barack Obama and outgoing Attorney General Eric Holder listen to singer Aretha Franklin at the Justice Department in Washington. The event marked Holder's anticipated departure after more than six years of service. AFP/Getty Images Aretha Franklin – career in pictures 2015 Pope Francis looks on as Aretha Franklin performs during the Festival of Families Getty Images Aretha Franklin – career in pictures 2016 Detroit native Aretha Franklin sings the National Anthem prior to the start of the Detroit Lions and the Minnesota Vikings game Getty Aretha Franklin – career in pictures 2017 Aretha Franklin performs during the "Clive Davis: The Soundtrack of Our Lives" Premiere Concert Getty/Tribeca Film Festival Aretha Franklin – career in pictures 2017 Aretha Franklin performs onstage at the Elton John AIDS Foundation Commemorates its 25th year Getty

Ms Franklin's body rested in a 24-karat gold-plated casket made of solid bronze, with a champagne velvet interior. The words “Queen of Soul” and “Aretha Franklin” were embroidered on the interior in gold thread. The casket will be buried at the Woodlawn Cemetery alongside Franklin’s father, minister CL Franklin, and the civil rights icon Rosa Parks.

Outside, dozens of pink Cadillacs lined the street in honour of Franklin’s hit song, "Freeway of Love". The singer was carried to the church in a 1940 Cadillac LaSalle hearse – the same one that transported her father. That morning, Cadillac took out full-page, powder-pink ad in the local paper reading simply: “Respect”.

The 1967 hit was performed across the Atlantic that morning, where the Band of the Welsh Guards played their own version of Respect during the Changing of the Guard ceremony at Buckingham Palace.

In Detroit, where Franklin spent most of her life, Mayor Mike Duggan announced the city would rename Chene Park – a popular, historic music venue – as Aretha Franklin Park.