At its peak, the BBC recorded 7.1m viewers, while ITV's figures hit the 3.3m mark at one point.
The event was the largest outside broadcast in the history of UK television. Both stations screened live footage from Westminster Abbey, the surrounding streets and the funeral procession.
The BBC had earlier been criticised for its coverage of the Queen Mother's death with charges that was being disrespectful.
The BBC drafted in David Dimbleby to host its coverage, along with TV historian Simon Schama. ITV had Sir Trevor McDonald hosting.
A further 8.8m viewers watched later coverage of the funeral on BBC and ITV. However, it does not come close to the 31m who watched the funeral of Princess Diana -- the largest TV audience to date.
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