Wilkins, who also played for Manchester United, AC Milan, Rangers and Queens Park Rangers, died at the age of 61 last month after suffering a heart attack.
Frank Stapleton, a former Man United teammate, spoke about Wilkins's on-field talent in his eulogy, saying: "If he was playing now he'd be spoken of as one of the best players in the world."
Wilkins's son, Ross, also spoke of his father's well-documented battle with depression and alcohol, and called for greater awareness of mental health.
His sister, Jade, read a poem which had been written for her father's funeral last Saturday.
"There's only one Ray Wilkins, that's what the fans say and that is as true of tomorrow as it is of today. Not just a great sportsman but a truly great man," she read.
Wilkins will be remembered by supporters in the eighth minute of the FA Cup final between Chelsea and Manchester United at Wembley on May 19.