US presidential candidate Joe Biden has told mourners at George Floyd’s funeral that “now is the time for racial justice.”

Mr Floyd’s funeral was held at a church in Houston, Texas this afternoon, just over two weeks after his death at the hands of a Minneapolis police officer sparked protests across the US.

Hundreds of mourners filled the Fountain of Praise church as the service got underway this afternoon.

The 46-year-old will be laid to rest beside his mother later this evening.

George Floyd’s son Quincy Mason Floyd during a funeral service for George Floyd at the Fountain of Praise church, 09-06-2020. Image: USA TODAY Network/Sipa USA

Speaking at the service, Mr Floyd’s niece Brooke Williams asked mourners "when has America ever been great?”

"I can breathe and as long as I can breathe justice will be served,” she said.

"He always moved people with his words. The officer showed no remorse for watching my uncle's soul leave his body.

"He begged and pleaded for you to just get up. Why must this system be corrupt and broken? Laws were put in place for the African-American system to fail. These laws need to be changed. No more hate crimes, please.

"Someone said make America great again. When has America ever been great?"

Speaking at the private funeral that was broadcast live, she called Mr Floyd's death "not just a murder, this is a hate crime".

The casket of George Floyd before a memorial service at North Central University in Minneapolis, Minnesota. Picture by: Carlos Gonzalez/Zuma Press/PA Images

In a pre-recorded video played out earlier, Democratic US presidential nominee Joe Biden said: “Now is the time for racial justice.”

“That's the answer we must give to our children when they ask why.

“Because when there's justice for George Floyd we will truly be on the way to racial justice for America.

Addressing Mr Floyd’s daughter Gianna, he said: “Your daddy will have changed the world.”

“You’re so brave,” he said. “Daddy’s looking down on you.”

“No child should have to ask the question that too many black children have had to ask for generations: ‘Why? Why is Daddy gone?’”

“When there is justice for George Floyd, we will truly be on our way to racial justice in America.”

Today’s funeral followed a public memorial service in Houston yesterday. Memorials had already been held in Minneapolis, where he was killed, and North Carolina, where he was born.