The Queen celebrated her official birthday on Saturday 15 June with Catherine the Duchess of Cambridge by her side, along with Prince Harry, Prince William and Camilla, Duchess of Cambridge.
This will be the last official engagement for Kate Middleton as she is due to give birth in July. As of next week, the duchess is officially on maternity leave.
The wife of Prince William wore a light pink coat by Alexander McQueen and a matching pink hat, designed by milliner Jane Corbett.
The Queen wore a royal blue outfit, although her husband the Duke of Edinburgh was unable to attend as he is in hospital recovering from abdominal surgery.
The Duke of Kent accompanied the Queen in the glass coach, from which they waved and inspected the Household Cavalry.
The glass coach was built in 1881 for the Lord Mayor of London and was purchased for King George V's coronation in 1911. It has been used for royal weddings, including the Queen's marriage to Prince Philip in 1947.
Over 1,000 soldiers took part in the parade, while thousands lined the streets to watch the Queen and the royal family.
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.
The Trooping the Colour ended with a 41-gun salute and RAF flypast, watched by the royal family from Buckingham Palace's balcony.