Astros outfielder George Springer and Congressman John Lewis served as Grand Marshals of the parade.
WATCH: Full video of the parade
This year's parade was in memory of Ovide Duncantell, a Houston civil rights activist who fought for equal rights for African Americans for many years.
Duncantell was the founder of the country's first Martin Luther King, Jr. parade. Duncantell died on Oct. 25, 2018.
SEE MORE: Houstonian who founded the first ever MLK Day parade is laid to rest
RELATED: Mayor Turner: City will support Black Heritage Society as official MLK Jr. Day parade in Houston