Thousands of people lined the streets to show support for veterans from all wars and all branches of the military.
The parade featured about 200 entries, including local school bands, firefighters, and police.
The route started at City Hall and ended at Chuckchansi Park about three hours later.
Organizers say this is the largest parade of its kind on the west coast.
"It means a lot to know the San Joaquin Valley puts on such a great show for its veterans and shows so much support," Vietnam veteran Robert Scholz said.
The parade started with an opening ceremony to honor some special veterans in front of Fresno City Hall.