Charlton passed away last week at the age of 86.
Charlton is widely regarded as one of the greatest players to play for the club and the Three Lions.
He was part of the only England side to win the FIFA World Cup in 1966.
Charlton played 758 games and scored 249 goals during 17 years as a Manchester United player, winning the European Cup, three league titles and the FA Cup.
United said in a statement: “The service will pay tribute to Sir Bobby’s incredible life as a husband, father, grandfather and, of course, as one of the finest footballers this country has ever produced.
“The procession to the cathedral will pass by Old Trafford for a moment of reflection and provide an opportunity for fans to say a final farewell to a true Manchester United legend.
“Further details on the memorial service and the procession will be communicated in due course.
“The family will then hold a private funeral ceremony for Sir Bobby and have requested privacy around the arrangements for this.”
