Here's what some of the pilots saw from the cockpit during the spectacular Diamond Jubilee flypast.
41 children from all corners of the UK formed a Diamond Choir to perform for the Queen today
In a rare address the Queen thanked the millions who joined the festivities which she hoped would "brighten our lives for many years".
The Queen will not attend today's Commonwealth Day celebrations due to her recent illness but is still expected to attend functions this evening.
Buckingham Palace said: "The Queen will regrettably no longer attend the Commonwealth Observance at Westminster Abbey today as she continues to recover following her recent illness.
The Duke of Edinburgh will attend the Observance as planned.
"However, Her Majesty will still attend the Commonwealth Reception at Marlborough House this evening to sign a new Commonwealth Charter.
The Queen hopes to undertake some of her official engagements planned for the rest of this week."
The Queen is to sign a new charter backing equal rights for women and gay people in every Commonwealth nation.
In a special ceremony to mark Commonwealth Day, she will endorse the document which includes the core values - from human rights to the rule of law - that leaders have committed to upholding.
In a pre-recorded speech to be broadcast today, the monarch will say the values of the new charter have "special emphasis" on including everyone in striving for a better future.
Read the full text and listen to the speech here:
The Queen will sign the new Commonwealth Charter in an event on Monday after it received the support of every Commonwealth nation.
According to the Mail on Sunday, the charter which backs equal rights for women and gay people says:
We recognise that gender equality and women's empowerment are essential components of human development and basic human rights.
The advancement of women's rights and the education of girls are critical preconditions for effective and sustainable development.
The Government is introducing new legislation ending discrimination against women in the line of succession to the British throne.
The measure will mean that the Duke and Duchess of Cambridge's first baby can succeed to the throne, regardless of whether the child is a girl or a boy.
The Queen is set to sign a new charter backing equal rights for women and gay people in her capacity as head of the Commonwealth, a Buckingham Palace spokesman has confirmed.
– Buckingham Palace spokesman
At a Commonwealth event on Monday, the Queen will sign a charter agreed upon by the 54 members of the Commonwealth.
The Queen, as in all matters, is apolitical but is signing the document in her capacity as head of the Commonwealth.
The Mail on Sunday quoted one Royal Household source as saying: "The Queen takes her Commonwealth role very seriously. She has discussed the charter in detail with her advisers and understands it in full."
The Queen is set to sign a new charter backing equal rights for women and gay people after it received the support of every Commonwealth nation, it was reported tonight.
The monarch will sign the new Commonwealth Charter in an event on Monday which includes the core values - from human rights to the rule of law - that leaders have committed to upholding.
According to the Mail on Sunday, the document declares: "We are implacably opposed to all forms of discrimination, whether rooted in gender, race, colour, creed, political belief or other grounds.
Insiders said the decision to highlight the event is a "watershed" moment because it is the first time she has signalled her support for gay rights in her 61-year reign, the paper claimed.
The Queen is expected to sign the document at London's Marlborough House, the Pall Mall headquarters of the Commonwealth Secretariat on Monday, which is Commonwealth Day.
Deputy Prime Minister Nick Clegg has said the government has received final consent from all Commonwealth realms to press ahead with a bill ending discrimination against women in the succession to the British throne.
The protest group previously in the St James's & Piccadilly area is in Park Lane nr Hyde Park Corner. Please allow time for your journey
Frank and open discussion with the Foreign Minister of Sri Lanka today on all issues of concern
Meanwhile hundreds of Tamils were protesting against the presence of the Sri Lankan president at a Commonwealth lunch with the Queen.