In a ceremony filled with pageantry and poignancy, a coffin containing his bones were lowered into the ground at Leicester Cathedral in central England as thousands of well-wishers gathered outside.
"We return the bones of your servant Richard to the grave," Archbishop of Canterbury Justin Welby, the spiritual leader of the Church of England, said in a prayer.
Many of those outside the cathedral, which was draped in Richard's personal standard, were clutching white roses, the symbol of the former king's House of York dynasty.
"We believe he was innocent and this is the burial he deserved. This is a once in a lifetime occasion. It's brilliant to be here and be part of history."
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The last English king to die in battle, Richard will now lie in a new tomb inside the cathedral, across the street from where his remains were located in 2012.
The story of the king in the car park captivated Britain in the build-up to today's spectacle and caused people to reconsider the tale of a man long caricatured as a villainous tyrant.
He was "a king who lived through turbulent times and whose Christian faith sustained him", she said, hailing "an event of great national and international significance".
The queen's daughter-in-law Sophie, the Countess of Wessex, attended the ceremony on her behalf, along with the queen's cousin Prince Richard, the Duke of Gloucester, patron of the Richard III Society and a blood relative of the slain king.
Packed in with wool and linen, Richard's battle-scarred bones were sealed inside a lead ossuary contained within an oak coffin made by Canadian carpenter Michael Ibsen, one of his closest living relatives.