Derek Fowlds died on January 17 this year after suffering from pneumonia.
His funeral took place yesterday (February 20) at his local church St Katharine's Church in Holt, Wiltshire.
Derek worked on the BBC's Basil Brush Show as a presenter in the early 70s, and Brush tweeted to say he had given a speech at the funeral.
The tweet read: "Yesterday we said a final goodbye to my Mr Derek at his local church in Holt, Wiltshire.
"A lovely service with lots of old chums of TV & Theatre.
"Vicar helped me up to the Pulpit so I could give a speach and recite a little poem to my dearest friend.....RIP Mr Derek."
He also shared the poem he had read in which he said life wouldn't be the same without 'Mr Derek'.
The poem ended: "I'll interrupt no more old chum, the stage is now all yours.
"That sound we love, its all for you, For Mr Derek, applause."
Derek Fowlds was best known for playing copper-turned-landlord Oscar Blaketon in Heartbeat and Bernard Wooley in Yes Minister.
He starred in Heartbeat, filmed in the village of Goathland, for its entire 18 years and told The Whitby Gazette in 2017 he had always regarded the village as his 'second home' after spending so much time there.
He was born in South London and trained at Rada before starring in the West End, several films and the TV roles he was best known for.
He was first married to Wendy Tory and later to Blue Peter presenter Lesley Judd and is survived by two sons Jamie and actor Jeremy.