Private Michael Ihemere, 26, from Nigeria, who joined the British Army in November 2011, was pronounced dead at the scene.
His commanding officer, Lieutenant Colonel Mark Ellwood MBE, paid tribute to the married soldier.
He said: "Private Ihemere proved to be a reliable, talented and popular soldier, respected by all across the Company.
"His likeable and kind nature immediately endeared him to those he worked with.
"Whilst on operations, he was involved in some fierce fighting but always remained calm, did his job well and supported his friends and colleagues with resolute loyalty."
After successfully completing infantry training he was posted to the 1st Battalion, The Mercian Regiment (Cheshire) in September 2012.
He was deployed to Afghanistan in October 2012, based in the Nad-e Ali district of Helmand province.
His widow Blessing attended a memorial parade at Marne Barracks, Catterick, yesterday morning.
North Yorkshire Police were investigating on behalf of the coroner but were not treating his death as suspicious, a force spokesman saying: "Officers were called just before 9am on Wednesday, August 28, 2013, following a report that a 26-year-old man, serving in the military, had collapsed at Barden Moor, Leyburn.
"Despite the efforts of paramedics, he was pronounced dead at the scene."