The event, which took place on Sunday, October 19, was organised by Madron Parish Council and saw the HMS Seahawk Volunteer Band lead the colour party, guard, and platoon of sailors.
Members of the Royal Naval Association and local Sea Cadets also joined the parade.
The commanding officer of RNAS Culdrose, Captain James Hall, took the salute alongside other senior naval personnel and dignitaries from Madron and Penzance.
A service was held at St Maddern’s Church, which hosted the first thanksgiving service after the historic battle 220 years ago.
The story goes that in 1805, HMS Pickle, returning to Britain with news of the battle of Trafalgar and the death of Lord Admiral Nelson, met fishermen in Mount’s Bay.
The fishermen spread the news, and the town mayor organised a service of thanksgiving and mourning at St Maddern’s Church.