Family and rock stars paid tribute to Motorhead frontman Lemmy at his funeral in Los Angeles.

Lemmy, who was born Ian Fraser Kilmister in Burslem, Stoke-on-Trent, died on December 28 at the age of 70, just two days after discovering he had an “extremely aggressive cancer”.

Motorhead drummer Mikkey Dee, Foo Fighters’ Dave Grohl, and Slash from Guns N’ Roses all spoke at the service.

Fans were asked not to attend but a live stream was put on YouTube.

A photograph of Motorhead was on display at the service chapel, together with a bank of speakers, Lemmy’s boots and an urn shaped like the singer’s trademark black brimmed hat.

The service at Forest Lawn Memorial Cemetery began with an introduction by the band’s manager Todd Singerman, who welcomed guests to the “celebration of Lemmy’s life”.

The singer’s son Paul Inder recalled his father’s life as a “stage warrior” and “free spirit”.

Lemmy, who lived in Los Angeles, had “felt something was wrong” in August 2015 and appeared frail, Paul Inder said.

“He wasn’t a religious man and praying for a miracle was something he would have viewed as a delusional act, but he was profoundly spiritual,” he said.

“Travel well, my dear father. You are back out on the road for a longest tour to the great gig in the sky.”

Guns N’ Roses guitarist Slash told the service: “Lemmy was somebody I just feel so honored to have been friends with. He lived his life the way he wanted to… his music and personality will last forever.”

The service also heard from Robert Trujillo and Lars Ulrich from Metallica, Judas Priest singer Rob Halford and Anthrax frontman Scott Ian.

It ended with an emotional speech from Dave Grohl in which he recalled his first meeting with Lemmy more than 20 years ago. He described him as “my hero… the one true rock ‘n’ roller” but also someone who “set such a great example because he was so kind to everyone”.

Then Lemmy’s bass guitar was plugged in to a stack of amplifiers and the volume turned up, with the congregation applauding as feedback from the speakers filled the chapel.

Fans were urged to watch the service together in a bar, club or at home, and the YouTube broadcast attracted more than 250,000 views across the world.

A message from Motorhead ahead of the service said: “Wherever you are, please get together and watch the service with fellow Motorheadbangers and friends.”

Lemmy formed Motorhead in 1975 after being thrown out of space-rock band Hawkwind, and went on to record 22 studio albums with the band.

Since Lemmy’s death, more than 100,000 fans have signed an online petition for the singer’s nickname to live on through a newly discovered chemical element, which they have asked to be named “Lemmium”.