Winnie Madikizela Mandela has been laid to rest at Fourways Memorial Park, north of Johannesburg.
She was accorded military honours, with soldiers carrying her coffin while the army band paid musical tribute.
Leading the occasion was President Cyril Ramaphosa delivered a eulogy describing Mama Winnie as being perpetually in the trenches and one who witnessed the worst atrocities of the Apartheid regime.
Mr Ramaphosa commended Mama Winnie for a life spent fighting for the rights of the oppressed and seeking to unify them.
Madikizela-Mandela’s eldest daughter, Zenani paid tribute to her mother, but lamented the fact that many people only spoke out in her mother’s defence after she had died.
She also acknowledged the love and support they received from the public.
Zimbabwe was represented at the burial by Vice President Retired General Constantino Chiwenga, who said the struggles for emancipation for both South Africans and Zimbabweans were similar as atrocities were vicious in both countries.
Madikizela Mandela was former wife to the late South African nationalist and former President, Nelson Mandela.