Pique announced earlier in the week that he will be calling time on his professional career after this weekend's game against Almeria which Barcelona won 2-0 thanks to goals from Ousmane Dembele and Frenkie De Jong to return to the top of La Liga.
Pique featured for 84 minutes before being substituted for Andreas Christensen to a standing ovation from the Camp Nou crowd.
Pique started his career in Barcelona's famed La Masia academy before joining Manchester United.
He returned to Barcelona in 2008 to make 616 appearances, becoming a mainstay at the back and helping them win three Champions League trophies, eight La Liga titles, seven Copa del Reys among numerous other honours.
Addressing the fans after the game with a microphone in hand, a tearful Pique said: "To want is to let go. There is so much love and passion between Barca and me.
"It was time to leave... [but] I am convinced that in the future I'll be here again. I already left and came back.
"This is not a farewell. I have been a member since I was born here, and I will die here."
Speaking after the game, Xavi praised his former team-mate, with the Barca head coach saying: "He had a great game, we wanted to send him off in the best possible way.
"The bigger the game for him, the better he performed. I have already told him that he is a Barca legend and we are very thankful."
Pique also became a World and European champion with Spain in his time with Barcelona, amassing 102 caps for his country.
