Robbie Williams raised the curtain at the spectacular Jubilee concert as he was accompanied by a military band for his signature tune Let Me Entertain You.

The star danced around the Corps of Drums of the Massed Bands of the Household Division to perform the song in a cloud of pyrotechnic smoke in front of Buckingham Palace. Thousands of people in the Mall and in a specially-built arena turned the area into a flurry of red, white and blue as they waved flags furiously.

The three-hour concert, organised by Williams's Take That bandmate Gary Barlow is being staged to celebrate music from throughout the Queen's 60-year reign. Frightened ducks shot into the air as fireworks and drums kicked off the show.

Black Eyed Peas star Will.i.am continued the party mood by getting the crowd on their feet for his band's hit I Gotta Feeling. He was joined by fellow judge from BBC1's The Voice Jessie J - wearing a dazzling blue and gold dress, split to the thigh - on the song.

Cheryl Cole made a surprise appearance to accompany Barlow on his first appearance of the night. The former X Factor judge - accompanying a current panellist from the show - looked elegant in a frothy black and white floor-length gown to perform her single Need You Now.

Earlier, JLS performed hits Everybody In Love and She Makes Me Wanna, although they failed to keep the crowd on their feet.

In keeping with the Queen's lengthy reign, Sir Cliff Richard drew on hits from across each decade of his career - which stretches back to 1958.

Later, Stevie Wonder was given a big cheer when he came on stage and before starting to sing Sir Duke, he told the Queen: "This is for you, to celebrate your Jubilee, so honoured to be here. I love you and God bless you."

Madness upped the ante to echo Brian May's performance 10 years ago by similarly playing on the roof of the palace. The band opened with their 1982 hit Our House, which coincidentally featured the palace in the video to the song, before playing It Must Be Love.

The royals all stood for the final act, Sir Paul McCartney, who started off with a Beatles favourite Magical Mystery Tour. As he ended with Obladi Oblada he was joined on stage by all the acts from the night.