Federal MP Fran Bailey led the tributes this morning after family and friends gathered at St Paul's Anglican Cathedral and hundreds of fans poured into nearby Federation Square for a live broadcast of the service.
She said "Peter was down to Earth, a straight-shooter", who cared deeply about his local community, the environment and Indigenous issues and had "an almost self-deprecating sense of humour".
"Peter's incredible success as a racing legend was integral to his public persona, but Peter was a man of many dimensions," she said.
"Live life to the full, make it happen but always give something back to others" was his philosophy. "Many of us will remember him for his enthusastic kindness."
Former Collingwood footballer Peter Daicos told the congregation: "I loved his humour, he made you feel at home whenever you were around him.
"He was my idol, but he was everyone's friend. (I want to) thank him for being so real."
Race commentator and former touring car driver Neil Compton said Brock didn't like funerals.
"Peter absolutely hated funerals and the halo of sadness that hovered over them.
"There was absolutely no room for misery or the negative in Peter's world, so we'd all better straighten up right now."
He said the racing star was "life-enhancing" and "life was better for having Peter as a part of it".
"He was truly a man of the people. Fans he generated 30 years ago kept coming back. He spent hours signing autographs and chatting, particularly with young fans.
"But Peter Perfect was not perfect actually. He was human and he had human feelings."
"He found it easy to engage with fans, but sometimes found it hard to express himself, even to his family."
Mr Compton told Brock's children that their father was enormously proud of them, even if he wasn't always able to tell them.
Hundreds of fans who could not get into the service, filled nearby Federation Square for the live broadcast.
Holden's trademark red and black was dotted among the crowd, and many of the mourners carried flowers.
Sporting luminaries and politicians joined Brock's partner Julie Bamford, former partner Bev Brock and other family members inside the cathedral for the 11am service, which was shown live on TV.
A new Holden VZ Statesman hearse adorned with BROCKY number plates provided by a fan delivered Brock's coffin to the cathedral earlier this morning.
The coffin was draped in the Australian flag and decorated with Australian native flowers.
Brock was killed when the car he was driving hit a tree during the Targa West rally near Perth on September 8.