Brown walked out of the New Hope Baptist Church in New Jersey minutes before Houston's service began yesterday afternoon (February 18).
The 'My Prerogative' star claimed that he left because security refused to let him see his daughter Bobbi Kristina and changed his family's seating arrangements three times.
Upon hearing about Brown's departure from the funeral, friend Bryan Blaney commented to Radar Online: "That is truly so very sad. I don't want people to focus on what happened with him today. It's just so sad, and I just don't want to say anything more about him.
"I saw Bobby leave, and I didn't know what was going on at the time. All I knew is that one moment he was there, and the next minute he was leaving with a lot of people."
Brown, who was married to the 'Million Dollar Bill' singer for 15 years until 2007, has released a statement explaining his decision.
"In light of the events, I gave a kiss to the casket of my ex-wife and departed, as I refused to create a scene," he said.
"This was a day to honour Whitney. I doubt Whitney would have wanted this to occur. I will continue to pay my respects to my ex-wife the best way I know how."
Brown performed on stage in Connecticut with New Edition just hours after Houston's funeral.