Hundreds of well-wishers flocked to Sandringham to see members of the royal family attend the traditional Christmas Day service at St Mary Magdalene Church.
Some of the family made the short walk from Sandringham House to the church while the Queen arrived by car.
The Duke of Edinburgh and Camilla, the Duchess of Cornwall, both missed out on this year’s service.
Reports said the duke was in good health but understood to be relaxing privately.
And Camilla was said to be recovering from a heavy cold.
The Duke and Duchess of Cambridge, Prince William and Kate, and the Duke and Duchess of Sussex, Prince Harry and Meghan, led the procession with Prince Charles.
Kate and Meghan spoke to members of the crowd and both collected posies and bouquets.
The queen is expected remain at Sandringham until early February.