Veteran activists led the solemn gathering which wove its way from the commercial heart of Hong Kong Island to China's liaison office, with some marchers in tears.
Western leaders, rights groups and the Nobel Peace Prize committee expressed sorrow at the death of Liu Xiaobo, but reaction was muted in his homeland, where strict censorship made him less well-known than abroad.
It was announced in a brief statement on Thursday that Liu had suffered multiple organ failure and efforts to save him had failed.
Liu Xiaobo was convicted in 2009 of inciting subversion for his role in the "Charter 08" movement calling for political reform. He was awarded the Nobel Peace Prize a year later while in prison.
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