The event showcasing the Cuban armed forces was led by Fidel's successor and brother Raul Castro, Granma newspaper reported online.
The parade was part of a national commemoration of Fidel's 80th birthday, which occurred in August though the celebration was postponed due to his illness.
Fidel Castro underwent gastro-intestinal surgery in July for an undisclosed illness and anointed his brother as Cuba's interim leader.
Some U.S. officials have speculated that he is suffering from terminal cancer. Cuban officials, however, assert he would one day return to power, though have backed away from any prediction as to when.