- The Duchess of Cambridge travelled to the pageant in a carriage with the Duchess of Cornwall and Prince Harry
- Trio smiled and waved at the crowds lining the route as the carriage drove to the televised military spectacle
- Royal family gathered on balcony on Buckingham Palace to watch spectacular RAF fly-past
- After ceremony Queen paid a 'private and quiet' visit to her husband Prince Philip, who is recovering from surgery
In many ways it was a very familiar Royal balcony tableau.
Prince William and Kate giggled and flirted. The Queen, striking in blue, acknowledged the spectacular fly-past with a beatific smile.
There was some good-natured tomfoolery from Prince Harry, who made his sister-in-law laugh with a tickling gesture. And there was even a mildly recalcitrant child, Prince Edward’s five-year-old son James, Viscount Severn, who couldn’t resist making faces.
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Patriotic: The Red Arrows trial red, white and blue smoke as they fly over Buckingham Palace, seen from the rear
The queen was surrounded by members of her family, who watched a Royal Air Force fly pass by on the balcony of Buckingham Palace
The Joker: Always eager to please, Harry makes Camilla and Kate chuckle during the celebrations
Eyes up: Edward's children Louise and James strain for a closer look at the fly-past
Princess Beatrice and Princess Eugenie were dressed in smart outfits and dainty hats as they attended their grandmother's official birthday celebrations. Princess Eugenie's elaborate headwear was designed by Sarah Cant
Prince Harry, the Duchess of Cambridge and Prince William share a joke as they gathered with other members to celebrate the grand ceremony
Prince William, pictured leaving Buckingham Palace on horseback, was one of many of the Queen's relatives who took part in the traditional celebration
The Duchess looked radiant in her Alexander McQueen outfit, jaunty hat and pearl earrings. This is her last official public engagement before she gives birth
After the ceremony, the Queen visited her husband Prince Philip, Duke of Edinburgh, who is recovering after undergoing a planned operation to cure abdominal pains
Queen Elizabeth II paid her husband an unaccompanied visit, who is said to be recovering and will stay another week in a London clinic
But the glaring omission from yesterday’s line-up at the Queen’s official birthday celebrations was, of course, the Duke of Edinburgh, who is still recovering from abdominal surgery. Without his bolstering presence, the scene appeared incomplete.
No sooner had she dispensed her final wave, though, than Her Majesty was off to visit her husband in hospital.
But if the day belonged to the 87-year-old Monarch, all eyes were on the eight-months-pregnant Duchess of Cambridge, making her last public appearance before the birth of her first child.
Before the balcony appearance, Kate watched proudly as her husband took part in the traditional Trooping the Colour on horseback as Colonel of the Irish Guards.
Prince Harry, The Duchess of Cornwall and The Duchess of Cambridge are all smiles as they attend the Trooping the Colour in London
Camilla and Kate looked like they were enjoying themselves as they waved at the crowds lining the route as their carriage drove to the military spectacle
All wrapped up: Camilla and Catherine sat side by side and made sure they had a blanket to cover their knees in case the weather turned cold
The Royal family were driven in a horse and carriage as they rode through the tree-lined Mall, as soldiers marched in a precise formation to celebrate the monarch's official birthday
Wearing a pale pink Alexander McQueen coat with pearl buttons and matching hat, she had travelled to the pageant in a carriage with the Duchess of Cornwall and Harry, smiling and waving at the crowds lining the route.
Other senior Royals also arrived in carriages before the Queen made her entrance, travelling with her cousin, the Duke of Kent, in a glass coach for the short journey from Buckingham Palace to Horse Guards Parade.
The Queen, dressed in a royal blue Angela Kelly coat and hat with a matching lace dress, took the salute as her family – including the Duke of York and his daughters Princesses Beatrice and Eugenie, and the Earl and Countess of Wessex with their daughter Lady Louise Mountbatten-Windsor – looked on.
After the parade ended, the Queen was cheered as she was driven back to Buckingham Palace, and the King’s Troop Royal Horse Artillery fired a 41-gun salute in Green Park.
It is thought to be only the third time that Philip has missed the event after not attending in 1962 and 1968 when he was away on royal tours.
She first took the royal salute in 1951 - when she deputised for her sick father, George VI - and has continued receiving the mark of respect every year except 1955 when there was a national rail strike.
Camilla, Duchess of Cornwall, Princess Anne, Queen Elizabeth II, Prince Andrew Prince Harry, Catherine and Prince William all stand on the balcony at Buckingham Palace to greet the crowds
What's Harry done now? Camilla and Kate giggle apparently at something Prince Harry has said - but the rest of the Royal family look the picture of serious
Enjoying herself! The Queen is all smiles as she joins Prince Charles, and Prince Andrew ahead of the fly-past on the balcony at Buckingham Palace
Other royals watching included the Duke of York and his daughters Princesses Beatrice and Eugenie, and the Earl and Countess of Wessex with their daughter Lady Louise Mountbatten-Windsor.
Taking part in the ceremony on horseback are the Prince of Wales - who is Colonel of the Welsh Guards, the Princess Royal - who is Colonel of the Blues and Royals, and the Duke of Cambridge - who is Colonel of the Irish Guards.
More than 1,000 soldiers, horses and musicians are taking part in the parade known as 'Trooping the Color,' an annual ceremony marking the queen's official birthday.
The ceremony is also an important social occasion for the Guardsmen taking part and gives their wives, girlfriends, and relatives the chance to celebrate the achievements of the young men and enjoy the spectacle.
Many of the spectators in the stands overlooking the parade ground were dressed in morning suits or smart suits, while women wore dresses topped with hats and fascinators.
After the parade ended, the Queen was cheered by crowds gathered along the Mall as she was driven back to Buckingham Palace, where she watched an aerial display by the RAF.
The RAF Red Arrows perform a flypast over Buckingham Palace, central London, following the Trooping of the Colour
The Red Arrows displayed their famous red, white and blue plumes of smoke as they flew over the palace in perfect formation
The nine Red Arrows, based at RAF Scampton in Lincolnshire, flew over London after the ceremony to honour the Queen's official birthday
The royals then gathered on the balcony at Buckingham Palace to watch the traditional RAF flypast.
Thousands of spectators crowded around the front of the palace and on The Mall, many cheering as a succession of planes roared overhead.
Among the featured 32 aircraft were 13 different types - from the famous Spitfire, Hurricane and Lancaster aircraft of the RAF Memorial Flight - to modern multi-role Typhoon fighters.
Queen Elizabeth II and Prince William, Duke of Kent stand at Buckingham Palace during the elaborate ceremony
The Queen took the royal salute as members of the royal family looked on but she had to celebrate the ceremony without her husband, who is recovering in hospital
Queen Elizabeth can be seen peeping through the window of her carriage as soldiers and well wishers line the streets
All eyes upwards: The Red Arrows display team perform a fly-past as members of the British royal family stand together on the balcony at Buckingham Palace and a crowd gathers outside
Queen Elizabeth II inspects the Household Cavalry during the Colour at the Horse Guards Parade, London, while a huge crowd gathered to see her
Soldiers from the Household Division line up in a precise formation before royalty and the public during the Trooping the Colour at Horse Guards Parade
The famous RAF display team make their way over the River Thames
Among the featured 32 aircraft were 13 different types, from the famous Spitfirem Hurricane and Lancaster aircraft, to more modern multi-rile Typhoon fighters, before the Red Arrows completed the flypast over Buckingham Palace
The Red Arrows completed the flypast - leaving a trail of red, white and blue smoke which swept across the sky behind them.
After the splendid ceremony, the Queen paid a visit to the Duke of Edinburgh, who is recovering from exploratory abdominal surgery at a London hospital.
The Queen, who changed into a pale blue suit, was unaccompanied as she made the visit 'quietly and privately', a Buckingham Palace spokeswoman said.
Philip also had a number of other visitors yesterday. He received a flurry of family visits during the day and at one point had the Prince of Wales and his wife the Duchess of Cornwall, the Duke of Cambridge and Prince Harry with him.
Earlier in the day his granddaughters Princesses Beatrice and Eugenie also made a trip to the hospital.
As Charles left the hospital, after a visit that lasted 35 minutes, he looked relaxed and smiled, and when asked by the waiting media how his father was, said "much better".
Queen Elizabeth II first took the royal salute in 1951 - when she deputised for her sick father, George VI - and has continued receiving the mark of respect every year except 1955
Her Majesty looked delighted as she watched the Guards march outside Buckingham Palace, before inspecting the guards as members of the royal family watched on
The heir to the throne arrived with Camilla around 15 minutes before his sons William and Harry.
The royal brothers stayed on after their father and stepmother left and spent around 40 minutes with their grandfather. They left without making any comment to a large crowd that had gathered outside the central London hospital.
As well as missing the Trooping the Colour ceremony today, Philip will also be unable to attend next week's events including the traditional Garter service at Windsor Castle and Royal Ascot.
The Duke is said to be progressing according to plans following his operation on June 7 and is expected to stay in hospital for around another week.
He is expected to spend two months convalescing after being discharged.
Philip was admitted to the London Clinic for the pre-arranged operation on June 6, following a garden party at the Palace that day.
The Colour that was paraded on Horse Guards this year is the flag of the 1st Battalion Welsh Guards.
The unit has recently returned from operational service in Afghanistan where the troops worked as part of the Afghan Police Advisory Team assisting the country to achieve self governance.
Prince William wore an elaborate uniform as he marked his grandmother's official birthday. The monarch turned 87 this year on April 21
A family affair: Members of the royal family participated in the annual event. Prince Charles and Princess Anne, the Princess Royal (right) rode on horseback during the procession and Prince William also joined in the ceremony (far left) in full costume
The Duke of Cambridge (left) Princess Royal (centre) and the Prince of Wales (right) arrive at Horse Guards Parade
Four of the five Foot Guards regiments of the Household Division - the Welsh Guards, Grenadier Guards, Scots Guards and the Coldstream Guards - were marching in the parade wearing bearskin hats and red tunics.
The Household Division Bands and Corps of Drums were also taking part, along with the King's Troop Royal Horse Artillery.
The ceremony originates from traditional battle preparations, when 'colors,' which refer to military flags, were carried down the rank to be seen by soldiers.
Although the Queen was born on 21 April and turned 87 this year, it has long been the tradition to celebrate the Sovereign's birthday publicly on a day in the summer, when good weather is more likely.
Trooping the Colour is carried out by fully trained and operational troops from the Household Division (Foot Guards and Household Cavalry) on Horse Guards Parade in Whitehall, watched by members of the Royal Family, invited guests and members of the public.
Cheer up! The sisters, who both complemented their pale outfits with flashes of black, looked downcast for a brief moment
The Earl and Countess of Wessex were clad in their finest as they drove through the hordes of well wishers who lined the streets of central London
Royal Salutes have been fired at both Edinburgh and Stirling Castle to mark the Queen's official birthday.
Gunners from 105th Regiment Royal Artillery (Volunteers) fired the two 21-gun royal salutes at noon.
Meanwhile, 1st Battalion Scots Guards, in their familiar red tunics and bearskins, provided both castle guards.
It is the first time the battalion has mounted a guard at Stirling in more than 300 years.
The royal salutes took place as the Queen attended the Trooping the Colour parade at Horse Guards Parade in London's Whitehall.
Commanding officer of 105th Regiment Lieutenant Colonel James Cook said: 'As the Scottish and Ulster Gunners, we are honoured to be firing royal salutes at Edinburgh and Stirling Castles on the occasion of Her Majesty the Queen's official birthday.
'We are extremely privileged to have the General Officer Commanding Scotland, Major General Nick Eeles, as the reviewing officer at Stirling Castle; and the Deputy Commander Land Forces, Major General Ranald Munro, as the reviewing officer at Edinburgh Castle.
Happy birthday, Ma'am! Guards make an imposing sight as they march down the Mall towards Buckingham Palace
Members of the Household Cavalry Mounted Regiment during the annual Trooping the Colour Ceremony
The ceremony which marks the Queens official birthday was not attended by Prince Philip the Duke of Edinburgh as he recuperates from abdominal surgery
The Grenadier Guards marched on Horse Guards Parade as the sun managed to struggle through the clouds to brighten the day
This was the Duchess of Cambridge's last public engagement before her baby is due to be born next month
'It is also a great pleasure to have 1st Battalion Scots Guards provide the guard at both castles, and it is worth noting the last time the Scots Guards mounted a guard at Stirling Castle was 1685.
'In addition, the regiment has now been given the official authority to fire four royal salutes annually at Stirling Castle. These will usually be fired by the regiment's 212 (Highland) Battery.'
Music at Stirling Castle was provided by the Highland Band of the Royal Regiment of Scotland.
The royal salute at Edinburgh Castle was fired by 207 Battery, with music from the Lowland Band of The Royal Regiment of Scotland.
The carriage that transported the Queen was built in 1881 as a town coach for the Lord Mayor of London, it was purchased for King George V's coronation in 1911.
It has been used for most royal weddings since then, including by the Queen when she married Philip in 1947 when she was still Princess Elizabeth.
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