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King Charles, his sons William and Harry and other senior royals joined a solemn procession behind Queen Elizabeth's coffin through the silent streets of London on Monday, following a state funeral of matchless pageantry at Westminster Abbey.

Hundreds of thousands of people crammed into central London to witness a ceremony attended by leaders and royalty from across the globe, a fitting end for Britain's longest-serving monarch who won widespread respect during 70 years on the throne.

Her flag-draped casket was pulled on a gun carriage the short distance from Westminster Hall to the Abbey by 142 sailors with arms linked. A bell tolled and bagpipes skirled.

Pin-drop silence fell over London's Hyde Park nearby as thousands of people, who for hours had picnicked and chatted, went quiet the second the queen's coffin appeared on screens erected for the occasion.

Shortly before, hundreds of armed personnel in full ceremonial dress had marched in a historic display of kilts, bearskin hats, scarlet tunics and brass bands.

Inside the abbey, lines of scripture were set to music that has been used at every state funeral since the early 18th century. Among those walking behind the casket was the queen's great-grandson and future king, nine-year-old Prince George.

The 2,000-strong congregation included some 500 presidents, prime ministers, foreign royal families and dignitaries including Joe Biden of the United States and leaders from France, Canada, Australia, China, Pakistan and the Cook Islands.

Justin Welby, the Archbishop of Canterbury, told the congregation that the grief felt by so many across Britain and the wider world reflected the late monarch's "abundant life and loving service."