Hundreds upon hundreds of people, friends and family, gathered to farewell Mr Morris, affectionately known as Mr Maitland, at St Peter's Anglican Church on Saturday.

NSW Premier Gladys Berejiklian gave a eulogy for her friend and mentor, and paid tribute to Mr Morris as embodying the "spirit of civic responsibility with his commitment to improve the lives and make a difference for people in this great state".

She spoke of his many achievements as the Minister for Transport and Member for Maitland.

"His achievements for NSW were always grounded in his love of his own community in Maitland. His commitment to Maitland was outstanding," Ms Berejiklian said.

"Few of us have contributed more to our community, our state and our nation than Milton Morris did - spanning from the second world war to the 21st century. "

Mr Morris, 94, died on February 27.

The former Liberal politician was Member for Maitland from 1956 to 1980, the NSW Transport Minister from 1965 to 1975.

He was awarded an Officer of the Order of Australia (AO) in 1988.

Mr Morris was responsible for introducing many of today's road safety measures including the compulsory wearing of seat belts, the breathalyser and radar speed cameras.

He also left a legacy in Sydney, reviving John Bradfield's vision of an Eastern Suburbs Railway - initiating the planning and building of the project.

After leaving politics Mr Morris was appointed Hunter Valley Training Company chairman in 1981, a position he held for 30 years.

The service also included a message from Wesley Mission chief executive Keith Garner and a music item from Mr Morris' granddaughters and great granddaughters. Colleen Gale remembered her father as "a man of the people" who had "left a rich legacy".

"He took the side of the disadvantaged and marginalised. He showed us, his family, the importance of valuing and respecting people of all standing," she said.

"He was someone who had the profound ability to make people feel valued, heard and engaged."