More than 1500 people gathered at Docklands stadium on Thursday to honour the four officers, who died after being hit by a truck while on duty at Kew in April 2020.
Leading Senior Constable Lynnette Taylor, 60, Senior Constable Kevin King, 50, and constables Glen Humphris, 32, and Josh Prestney, 28 were in the emergency lane about to impound a Porsche 911, when they were hit by a truck.
The tragedy marked Victoria Police's single greatest loss of life, with the truck driver responsible jailed for 22 years.
The ceremony began with the police pipe band welcoming a guard of honour of officers marching, while holding large framed photos of the four officers.
Among those in attendance were Victorian Premier Daniel Andrews, Governor Linda Dessau, Police Minister Lisa Neville, federal Home Affairs Minister Karen Andrews and former Victorian premiers John Brumby, Ted Baillieu and Jeff Kennett.
Mr Andrews opened the service, acknowledging the group as "amazing Victorians" who put their lives on the line to protect others.
"I doubt any of us will forget where we were and what we were doing when news filtered though that four officers - partners, parents, sons, daughters and siblings - had been killed in a terrible incident on the Eastern Freeway," he told mourners.
"It affected all of us, it broke all of our hearts and it served as a reminder of how dangerous policing is."
Victoria Police Chief Commissioner Shane Patten said it had been 653 days since the tragedy but "not a day goes by where they're not in our thoughts".
"Throughout these very dark days, the family of our fallen colleagues have shown courage, dignity, strength and resilience, in the face of what is already a heartbreaking experience and with the challenges of not being able to mourn collectively due to the COVID-19 restrictions," he said.
The police chaplain who broke the news to Sen Const King's family on the day he died read out family tributes, including from his widow who described him as her "soulmate".
"We miss his smile, his laughter, his sense of humour and most of all his way of making things better," Senior Police Chaplain Drew Mellor said, reading the tribute.
"Nearly two years on we still have the long, heartbreaking journey of life without Kevin."
About 1000 Victoria Police officers and 500 members of the public attended the memorial.
It has taken almost two years for the victims to be memorialised due to varying public health restrictions during the COVID-19 pandemic.
Funerals for the officers were restricted due to Victoria's first lockdown.
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