Earlier, the carnival got under way with a traditional paint fight.
The tradition, known as Jouvert, meaning "open of the day", sees revellers hurl paint at each other which dancing to steel bands and African drummers.
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Handmade green hearts and streamers adorned the judging area, while spectators were decked out in green following a campaign encouraging people to go "green for Grenfell", which organisers said they hoped would symbolise "reverence and respect amidst the revelry".
Image copyright Reuters Image caption Organisers encouraged people to wear green for Grenfell
Image copyright Getty Images Image caption Hundreds took part in the traditional Jouvert opening parade, which involves hurling paint at each other
In her speech, Ms Dent Coad, who had previously likened the carnival to a wake, praised the "Grenfell generation" of young people and urged them to set aside sadness and worries.
"Carnival is for dancing, laughing, singing along and having a wonderful time with our community and those closest to us," she said.
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Image copyright Getty Images
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Image caption Performers from Muraldo Mass want the victims to know the whole of London supports them
At the scene: BBC reporter Mark Lobel
Thousands of energetic performers with strikingly colourful costumes are entertaining tens of thousands lining the streets in west London in stunning weather.
There is above all a relaxed and joyous atmosphere despite the sombre tone interspersed into proceedings.
Doves were released for the victims of the Grenfell Tower fire after a street service attended by religious and political leaders at which the mayor was applauded for saying those responsible for the fire that killed at least 80 people half a mile from here need to be held to account.
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