Prince Harry, the Duchess of Cornwall and the Duchess of Cambridge
Following in a third carriage were Prince Edward, the Duke of Kent, and his sister Princess Alexandra.
Duchess Kate, née Kate Middleton, wore a new light blue jacket and skirt by Alexander McQueen and a similarly hued hat by milliner Jane Taylor. The Duchess of Cornwall looked equally as elegant in a pink blazer and hat, accessorising her outfit with a bold necklace made up of jewels and pearls.
Britain's monarch Queen Elizabeth II was dressed in a light blue coat with navy trim by Angela Kelly and was seated alongside her husband the Duke of Edinburgh in the Ascot Landau carriage.
The Queen, who first attended Trooping the Colour in 1947 when she was 21, then descended the carriage to inspect 1,000 soldiers of the Household Division at Horse Guards Parade.
Saturday's ceremony, which was attended by Prime Minister David Cameron and his wife Samantha, was made up of over 1400 officers, 200 horses and over 500 band members.
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Royal Colonels Prince Charles, Prince William and Princess Anne
Prince Charles, Prince William and Princess Anne joined the parade on horseback in their official roles as Royal Colonels.
The Prince of Wales is Colonel of the Welsh Guards, Prince William of the Irish Guards and the Princess Royal is Colonel of the Blues and Royals.
Left to right: The Duchess of Cornwall, Prince Charles, Princess Eugenie, Princess Anne, The Queen, Timothy Lawrence,
The Countess of Wessex, Prince Philip, Prince Edward and Prince Harry
Following the parade the royals made their way back up The Mall to Buckingham Palace where they assembled on the balcony to watch the flypast.
Joining those who had taken part in the carriage procession were Princess Anne's husband Sir Timothy Lawrence, the Queen's first cousin once removed Lady Helen Taylor and her daughter Estella.
Duchess Kate was spotted chatting to Estella Taylor on the balcony
The Duchess of Cambridge was seen talking to nine-year-old Estella during the ceremonial aircraft display, pointing at the crowd and the planes as they flew past.
Notably absent from proceedings were Princess Beatrice, Lady Louise Windsor and James Viscount Severn, who have all attended the historic event in previous years.
Prince Harry with the Duke and Duchess of Cambridge
Royal watchers had been hoping that Prince George would join his parents on the balcony, but the young Prince of Cambridge did not make an appearance.
It is thought that the Duke and Duchess of Cambridge feel their 11-month-old son is too young at present to take part in the ceremony, as other royals including Lady Louise, Viscount Severn and the young princes William and Harry were all over the age of one when they first attended Trooping the Colour.