Mrs Beshenivsky was killed outside a travel agency in Morley Street on 18 November 2005 while responding to an armed robbery call.
The service was held in Norfolk Gardens where a minute's silence was observed at the exact time she was shot.
Her husband Paul and family were joined by police colleagues.
The mother of three and stepmother of two died after she was shot in the chest on what was her youngest daughter Lydia's fourth birthday.
Her shift partner, PC Teresa Milburn, was also shot and injured during the incident.
Two men were jailed for life for her murder.
Dozens of new floral tributes have been left at the memorial in the city centre.
Ch Supt Simon Atkin, of West Yorkshire Police, said: "The memorial service for family, friends, colleagues and community members from across Bradford is to ensure that we can collectively come together to remember police constable 6410 Sharon Beshenivsky.
"Our thoughts are still with Paul and his family as we recall that fateful day 10 years ago when Sharon was killed in the line of duty.
"We come together as friends within the police family to reflect and support as we ensure that Sharon will not be forgotten."
Lord Mayor of Bradford Joanne Dodds said: "Sharon made the ultimate sacrifice and gave her life protecting us and ensuring we could continue to enjoy the liberty, freedom and way of life we all value so dearly."

Christopher Hales was found guilty of professional misconduct over property deals linked to MP Michelle Thomson.
She was elected an SNP MP but withdrew the party whip after the case emerged.
The Law Society found that claims staff might have deliberately halted progressing the case until after the election were "completely unfounded".
Mr Hales had carried out work for M&F Property Solutions, a firm businesswoman Ms Thomson was a partner of.
Following a hearing in May 2014, the Scottish Solicitors' Discipline Tribunal said Mr Hales failed to provide mortgage companies with key information used to prevent fraud and must have been aware that there was a possibility he was facilitating mortgage fraud, whether or not it occurred.
The deals he was investigated for had been carried out on behalf of M&F Property Solutions, a firm businesswoman Ms Thomson was a partner of.
She remains an MP at Westminster and has strenuously denied she did anything wrong.
After the link between Mr Hales and Ms Thomson came to light, the Law Society undertook a review of its handling of the case.
It concluded that;
Christine McLintock, president of the Law Society, said: "We took swift action after identifying the issues at Christopher Hales' firm in 2011, which included rapidly suspending Mr Hales from practice and making a suspicious activity report. Following our investigation we prosecuted him before the the Scottish Solicitors' Discipline Tribunal (SSDT) , which resulted in him being struck off.
"We said we would examine the issues raised as a result of this case to determine what lessons could be learned.
"We have now identified where operational improvements can be made and are taking these forward in conjunction with other organisations.
"This work will be overseen by the Society's Regulatory Committee, which comprises both solicitors and non-solicitors."

Firefighters took more than three hours to douse the blaze in Balaghat district on Wednesday evening.
Senior local official Bharat Yadav said the exact cause of fire was not known, but suspected that "someone might have thrown a burning beedi (cigarette)".
Accidental explosions are common at Indian fireworks factories.
Mr Yadav told PTI news agency that the rescue operation was over, and nobody was trapped inside the factory.
"Of the seven injured, five have been rushed to Nagpur [in Maharashtra] for treatment, while two are being treated at a hospital in the district," he said.
Chief Minister Shivraj Singh Chouhan has announced a compensation of 200,000 rupees (Â£2,396; $3,104) to each the families of each victim. He said the government would also pay for the medical expenses of the injured.
Family and colleagues of murdered PC Sharon Beshenivsky have paid tribute to the officer on the 10th anniversary of the day she was shot dead in Bradford.
[NEXT_CONCEPT]
A review into the handling of a case involving a solicitor who was struck off has found no wrongdoing by Law Society of Scotland staff.
[NEXT_CONCEPT]
At least 23 people have died and seven others were injured in a massive explosion at a fireworks factory in the central Indian state of Madhya Pradesh.