Hundreds of well-wishers gathered at Sandringham to greet members of the royal family attending a service at St Mary Magdalene Church.
The Queen wore a bold red outfit and was joined on Christmas day by Prince Charles and Camilla, the Duchess of Cornwall, Princess Anne and William and Kate, Duke and Duchess of Cambridge.
Prince George, six and four-year-old Princess Charlotte, joined their parents for the service for the first time this year, with the family walking hand-in-hand to the church from Sandringham House with the Prince of Wales.
Princess Beatrice and her fiance, Edoardo Mapelli Mozzi also attended.
Prince Philip was discharged from King Edward VII Hospital in London on Christmas Eve, but did attend church.
The 98-year-old spent four nights at the hospital being treated for a “pre-existing condition”.
The Duke of York, who withdrew from royal duties “for the foreseeable future” in November, was not present. He and Prince Charles attended an earlier church service that day.
Prince Andrew’s decision to step back came after his heavily-criticised interview on the BBC’s Newsnight.
The crowds were out again when the Queen, dressed in yellow, attended church with family members including Prince Edward on Sunday.