Cllr Hendry, who represented the Pinkneys Green ward since 1991, died on August 26.
His Royal Borough colleagues attended the service at Waltham St Lawrence Parish Church.
Cllr Rayner said: "I got to know Wilson in 2005 when I was first elected. He was one of the first friendly faces that I met when I was a new councillor. He made me welcome and helped me get through my first meetings as a rookie.
"I spent many hours in meetings with him discussing Windsor planning applications. These were enjoyable and great times as we had similar views on planning and the greenbelt.
"The Council chamber will seem an empty place without him."
Top Ten Articles
The crash, which took place at about 7am today (Thursday), involved three vehicles. One man sadly died as a result of the collision and his next of kin have been informed.