Joan Rivers has been laid to rest with a funeral service in Manhattan, with family and friends gathering to pay their respects.

Kelly Osbourne and her dad Ozzy, Howard Stern, Whoopi Goldberg, Sarah Jessica Parker and Donald Trump were among those invited to the memorial at the Temple Emanu-El synagogue next to Central Park.

Recalling Rivers' own warning that she didn't want "some rabbi rambling on" at her funeral, Rabbi Joshua M. Davidson swiftly ceded the floor to her family and friends - with contributions being provided by Stern, Broadway singer Audra McDonald and Hugh Jackman among others.

Stern told the congregation: "She fought the stereotypes that women can't be funny, they should stay in their place, stay home.

"Courageously, she fought to save her family after her husband's suicide; she fought to rebuild her career after Johnny banned her from The Tonight Show and the Fox show was cancelled.

"She fought the bigotry toward gay people."

He called her "the best friend in the world ... a big sister ... a crazy aunt at a bar mitzvah".

And her daughter Melissa Rivers read from a letter she had written to her mother, referring to Rivers' grandson Cooper.

"I am grateful for everyday Cooper and I have with you. You are an inspiration."

The ceremony was closed by Jackman singing Peter Allen's song Quiet Please, There's A Lady On Stage.

Rivers died at the age of 81 last week, having suffered a heart attack while undergoing surgery on her vocal chords the week before.