The Queen watched a star-studded Diamond Jubilee Concert outside Buckingham Palace on Sunday evening featuring pop music legends from the last 60 years.
The Duke of Edinburgh missed the event as he has been admitted to hospital with a bladder infection and will be unable to attend the rest of the Jubilee celebrations.
After the concert, The Prince of Wales paid a heartfelt tribute to the Queen and also remembered the Duke of Edinburgh ill in hospital.
As he stood on stage with his mother a few feet away, Charles told hundreds of thousands of people who had gathered event that they were "celebrating the life and service of a very special person".
He added: "The only sad thing about this evening is that my father cannot be her with us because unfortunately he's been taken unwell."
Afterwards at 22:45BST, the Queen lit the last of more than 4,200 Diamond Jubilee beacons dotted across the globe in celebration of her 60-year reign.
Once the national beacon had been set alight, the sky above Buckingham Palace was lit up with fireworks and the Union Jack was projected onto the palace’s facade.
Later, the Queen met some of the stars who performed or hosted at the event backstage.
Earlier, Robbie Williams kicked off a star-studded Diamond Jubilee Concert featuring pop music legends from the last 60 years.
His rendition of Let Me Entertain You was accompanied by the Corps of Drums of the Massed Bands of the Household Division.
He was followed by a succession of world-famous acts including Sir Cliff Richards, Dame Shirley Bassey, Annie Lennox, Tom Jones and Sir Elton John.
ITV News' Royal Correspondent Tim Ewart reports.
An all-star cast of comedians hosted the evening including Rob Brydon, Miranda Hart, Jimmy Carr and Rolf Harris. Rob Brydon, joked that "sixty years of reign" sounded "like a Welsh summer".
The Queen joined other members of the royal household including the Duke of Cornwall, Prince Harry, the Duke and Duchess of Cambridge and Princess Anne.
A highlight was when 80s ska band Madness performed on Buckingham Palace's roof.
They played their hit Our House, emulating the efforts of Queen guitarist Brian May who famously performed the National Anthem from the same spot during the 2002 concert marking the Golden Jubilee.
Crowds started gathering on The Mall early in the day, with some even camping overnight to get good spots in front of the giant television screens.
Take That star Gary Barlow was tasked with arranging the concert. Speaking to ITV News' Royal Editor Tim Ewart earlier in the day, he promised it would be a night to remember:
The stage itself was built around the Queen Victoria Memorial with Buckingham Palace providing the backdrop.
Aside from the seating around the Memorial, spectators watched the concert from large screens in The Mall, St. James' Park and Hyde Park, as well as on TV.
Before the concert was held on a stage in the shadow of Buckingham Palace, 10,000 lucky ballot winners enjoyed a picnic in Buckingham Palace's garden with a hamper created by celebrity chef Heston Blumenthal, the Queen's royal chef Mark Flanagan and Waitrose.