The service, held at St. Bartholomew's Church in Manhattan, included words of tribute from Jagger as well as Scott's brother, Randy Bambrough; her good friend actress Ellen Barkin; fashion personality Andre Leon Talley; and actress Sarah Jessica Parker, according to a statement from Jagger's publicist Vicki Scarfone.
Poems were shared by Scott's niece, Hannah Bambrough, and Jagger's son, James Jagger. The Rolling Stones rocker's grandchildren, Mazie and Zak, read Psalm 23. Besides Jagger's rendition of the Dylan song, his longtime backup singer Lisa Fischer sang "Amazing Grace."
The service was followed by a reception.
Others attending included actresses Julianne Moore, Meg Ryan and Renee Zellweger, Vogue editor Anna Wintour, film director Baz Luhrmann and Vanity Fair editor Graydon Carter. Fans lined against barricades to take photos.
A small private funeral was held for Scott in Los Angeles in March.
Associated Press writers Mesfin Fekadu and Jocelyn Noveck contributed to this report.