The 15-year-old went missing on Friday evening when she was dropped off outside Ibstock Community College.
A body, believed to be that of the 15-year-old, was pulled out from undergrowth near a lake in Ibstock, Leicestershire, on Wednesday evening.
St Laurence Church in Measham hosted a candle lit vigil in the city where prayers were said and tributed paid to the teenager.
After the discovery, Kayleigh's family said: "We are heartbroken, grief stricken and as a family, utterly devastated.
"There are no words to express the way we are feeling."
They continued: "We cannot even begin to thank the local communities and wider public for their messages of support which have helped us through the last week."
"We are also grateful for the publicity the media have given to Kayleigh's disappearance and the desperate search to find her."
A man will appear in court charged with the rape and murder of teenager Kayleigh Haywood.
Stephen Beadman, 28, is accused of murder and one count of rape. A second man, Luke Harlow, 27, is charged with grooming and two counts of sexual activity with a child.
The pair, both from George Avenue in the village of Ibstock, Leicestershire, will appear at Leicester Magistrates Court on Friday.
