The service for the England and Manchester United legend will be held on 13 November at Manchester Cathedral.
Sir Bobby, hailed as one of England’s greatest players, died on 21 October aged 86, prompting tributes from around the world and silences observed in the weekend’s football matches.
A procession to the cathedral will pass by Old Trafford as part of the plans, before a private funeral ceremony.
The club said the service would provide a “moment of reflection” and give fans an opportunity “to say a final farewell to a true Manchester United legend”.
Thousands of fans have already left tributes at Old Trafford to the key member of England’s 1966 World Cup-winning team.
The area in front of the famous Trinity statue – where he is immortalised alongside team-mates George Best and Denis Law – has been flooded with memorabilia and flowers.
More than 80,000 fans have also signed the books of condolence online or in person at Old Trafford, the club said.
Meanwhile an inquest into the cause of his death has revealed that Sir Bobby Charlton died after an accidental fall at a care home.
The inquest at Cheshire Coroner’s Court heard Sir Bobby was living in The Willows in Knutsford, a nursing home caring for patients with dementia.
The hearing was told Sir Bobby had lost his balance as he stood up from his chair, striking a window sill and “possibly a radiator”.
Staff performed a full-body check at the time and noted no visible injuries, and recorded his mobility seemed unaffected.
But they later noticed swelling on his back and paramedics were called to the centre, where he had been receiving care since July.
He was then taken to a local hospital before being moved to Macclesfield General Hospital.
A chest X-ray and CT scan revealed he had fractured his ribs and was likely to develop pneumonia, the inquest heard.
Doctors then agreed Sir Bobby should be put on end-of-life care, he died five days later.
