Her evidence was at times interrupted by apologies from two defendants.
After one of the defendants, Aomar Ait Khedache, 71, sitting metres from Kardashian in the courtroom expressed his regret, she turned to him and said she forgave him.
Referencing her activism in the US to improve the justice system and her dreams of becoming a lawyer, she thanked Khedache for his apology letter.
"I do appreciate it, I forgive you," she said to him in the stand, while crying.
"But it doesn't change the emotion, the feelings and the trauma and the way my life has changed."
"I just want to thank everyone, especially the French authorities, for allowing me to testify today and tell my truth," the TV star told the court on Tuesday which was packed with media.
The trial for the crime committed more than nine years ago has been long-anticipated and closely followed by press.
Wearing a tailored black suit and diamond jewellery, Kardashian was supported in the courtroom by her mother, Kris Jenner, several friends, and a bevy of bodyguards.
She faltered at times in her first hour of giving testimony, fidgeting with her long nails, and pausing when overwhelmed by emotion and fighting back tears. However she appeared to relax and gather strength the longer she went on, her voice becoming steadier.
She also expressed forgiveness for one of the defendants, who issued an apology to her during her testimony.
Tuesday's session in court was the first time Kardashian had relayed to a criminal court her account of the armed burglary, and the extent of her fears during and after the attack.