The Second World War veteran and NHS charity fundraiser's close relatives walked through a guard of honour made up of school children and organisations close to his heart to his final resting place in Morton Cemetery, Riddlesden, West Yorkshire, on Monday.
Around 50 representatives of the NHS, Royal British Legion, Scouts, Guides and many other groups lined the path of the cemetery, on the outskirts of Keighley.
Sir Tom's two daughters - Hannah Ingram-Moore and Lucy Teixeira - two of his grandchildren and his sons-in-law chatted and shared stories with those on the honour guard as they walked from their cars to the grave, which is just a few yards from Riddlesden's war memorial.
They were then greeted by the Lord Lieutenant of West Yorkshire, Ed Anderson, and Keighley Town Chaplain, the Reverend Dr Jonathan Pritchard, who conducted a short service at the graveside as Sir Tom's ashes were placed in the ground.
The family has carried out Sir Tom's wishes and have had the words "I told you I was old" engraved on the 7ft high family memorial stone above the grave, under a silhouette image of the 100-year-old former Army officer.
He raised over £30 million for the NHS in the first lockdown by completing laps of his garden in time for his 100th birthday.
Sir Tom was knighted by the Queen during an open-air ceremony at Windsor Castle in summer 2020 in honour of his fundraising efforts.
Mr Pritchard told the PA news agency: "This is the most immense privilege to be here serving in this way in this last living act for Captain Sir Tom Moore, here in Keighley.
"He was an extraordinary man who's made a real significant difference in the life of our nation.
"He's lifted our spirits and raised our vision about what is possible.
"So, I'm just very, very moved to be able to be here right at the very end and doing this."
He said the family told him that Sir Tom would have wanted just a simple service, and Monday's ceremony lasted around 15 minutes.
The arrival of the family at the cemetery was greeted with a small window of sunshine on a day of mixed West Yorkshire weather.
Mrs Ingram-Moore was accompanied by her husband Colin and their children Benjie and Georgia. Mrs Teixeira was joined by her husband, Tom.
The family looked relaxed as they laughed and smiled with the community groups' representatives and the children from schools across the Keighley area.
As well as the emergency services, more than a dozen organisations were represented at the cemetery including Keighley Healthy Living, the Keighley and Worth Valley Railway, Keighley Cougars rugby club and the Bangladeshi Community Association.
The honour guard arrived at the cemetery before the family on two vintage double-decker buses.