Prince and Cherie Booth at Thaw memorial

Eight hundred people, including the Prince of Wales and some of the most famous figures in the world of entertainment, attended a memorial service yesterday for John Thaw, a working-class boy from Manchester who became one of the great actors of his generation.

The congregation heard that Thaw, whose most famous role was Inspector Morse, had, without publicity, paid for 16 students from deprived backgrounds to study at the Royal Academy of Dramatic Arts (Rada). Lord Attenborough, who directed Thaw in one of his rare film appearances, Cry Freedom, announced at St Martin-in-the-Fields Church in central London that Rada was setting up a John Thaw bursary in homage to the actor.

Lord Attenborough, with the actors Sir Tom Courtenay, Richard Briers and Kevin Whateley, who played Morse's patient sidekick Sergeant Lewis, reminisced about Thaw's talent, his sense of decency, and sharp, often self-deprecating humour.

Cherie Booth, the Prime Minister's wife, attended what was described as a celebration of the actor's life. She was there, she said afterwards, because the actor was "a family friend, and a lifelong supporter of the party, obviously". Prince Charles was there as a friend and neighbour from Highgrove, said Buckingham Palace.

Thaw, the son of a lorry driver, was a lifelong socialist, and the service ended with the singing of "Jerusalem". The congregation left to the strains of Barrington Pheulong's theme music for Morse.

Afterwards Thaw's widow, the actress Sheila Hancock, and the family led them to Trafalgar Square where 60 pink, blue and yellow balloons were released to mark each year of his life with the message: "Today we remembered John with love".

Lord Attenborough spoke of the phenomenal success of Inspector Morse, which was watched by 20 million people. He reminded those present of Thaw's other notable achievements and roles on television and the stage.

One of the actor's daughters, Abigail, read a poem that she had written about her father. The subject was her 60th birthday present to him, a visit to Barcelona.

Thaw died, of cancer of the oesophagus, before he could make the trip. "Last week we went to Barcelona, a beautiful city, the kids had fun, you really should have come too. I miss him ..." she ended, as she started crying.