Late actor Robin Williams has been celebrated at a private tribute ceremony attended by his family and friends.

The ceremony took place on September 27 at the Curran Theatre in San Francisco, according to Hollywood Reporter.

Hundreds of guests attended, including Billy Crystal and Whoopi Goldberg, and Robin Williams’ wife and children.

Robin Williams, 63, killed himself at his home in California last month. He had been treated for depression.

The life of Robin Williams has been celebrated at a private tribute ceremony attended by family and friends (photo Reuters)

At the ceremony, there was music and video tributes.

Stevie Wonder performed, accompanied by the Glide Ensemble and Change Band from the Glide Memorial Church in San Francisco.

Other attendees included close friends, one-time co-stars and directors including Bette Midler, Ben Stiller, Christine Taylor, George Lucas, Danny De Vito, Sarah Michelle Gellar, Gus Van Sant, Jeff Bridges and Eddie Izzard.

Following the tribute, guests went to the nearby Westin St Francis Hotel for a reception.

After Robin Williams’ death, his publicist said he had been “battling severe depression”, and his wife said he had been in the early stages of degenerative neurological disorder Parkinson’s disease.

Robin Williams was famous for such films as Good Morning Vietnam and Dead Poets Society and won an Oscar for his role in Good Will Hunting.