Joining the monarch in her horse-drawn carriage, Charles and Camilla smiled and waved to the crowds as they arrived for the first day of racing to cheers and applause.
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Befitting the grandeur of the occasion, Charles was smartly attired in tails and a top hat, while his wife looked elegant in an ivory dress teamed with a cream A-line coat and a matching hat. A five-strand pearl necklace completed her look.
Following behind their carriage in the horse-drawn procession was Prince Andrew and his two daughters, Princess Beatrice and Princess Eugenie. Both sisters chose to wear horizontal stripes for the occasion; Beatrice, 24 wore a navy and white belted-up coat, while her younger sister, 23, opted for a monochrome dress paired with a cropped black jacket.
Travelling in the third carriage was the Queen's cousin, Prince Michael of Kent and his wife, Princess Michael, who rode with Princess Margaret's son Viscount Linley — who is also Beatrice's godfather — and the Viscountess.
The fourth and final carriage carried Lady Helen Taylor, Timothy Taylor, Lord Ivar Mountbatten and the Lady Brabourne.
All the members of the grand royal procession at Ascot began the day with lunch at Windsor Castle, before traveling by car to Watersplash Lane to board the carriages and make their way to the Berkshire racecourse.
Some of the celebrities attending the opening day of Royal Ascot included Eamonn Holmes and his wife Ruth Langsford, Aishwarya Rai Bachchan and Katherine Jenkins.