"We have all earned the right to raise our voices, to come here and say that after the long journey we have travelled, there is still much to do," Tel Aviv Mayor Ron Huldai told the crowd, according to Israeli media outlet ynet.

"I promise you that we will not give up and that we will continue to fight until we see full equality in the state of Israel," he added.

Participants moved through downtown Tel Aviv before reaching the beach, where 2018 Eurovision winner Netta Barzilai was expected to perform.

The parade's "pride ambassador" was US comedian Neil Patrick Harris, famous for his role in the television show How I Met Your Mother.

Hundreds of police were on hand to guarantee security for the event, though there were no reports of any incidents.

Though Israel has become more tolerant of homosexuality in recent decades, gay marriage is still against the law and there are problems when it comes to adoption and surrogacy.

Strict religious political parties have a great deal of influence in Prime Minister Benjamin Netanyahu's coalition government and have rejected changes in the country's laws.

Australian Associated Press