Ecstatic crowds cheered the Queen's carriage procession through the streets of London today as British pomp and pageantry went on full display.

The Queen was joined in her 1902 State Landau by the Prince of Wales and Duchess of Cornwall, as the Duke of Edinburgh is being treated in hospital for a bladder infection.

Philip is said to be "disappointed" at missing the festivities marking the end of the extended Diamond Jubilee Bank Holiday.

The Duke and Duchess of Cambridge and Prince Harry rode in a State Landau behind the senior royals and past the cheering crowds.

They had all enjoyed lunch with members of the City of London Livery Companies in Westminster Hall before the spectacle began.

As the carriages emerged from New Palace Yard, near Westminster Hall, spectators began cheering and applauding the 86-year-old Queen.

Big Ben - the Palace of Westminster's Clock Tower - stood behind them and a campaign is under way to rename it the Elizabeth Tower in honour of the Diamond Jubilee.

The spectacle was given an air of ceremonial grandeur by the Sovereign's Escort provided by the Household Cavalry Mounted Regiment in their breastplates and plumed helmets.

The rain that had been threatening to fall all day held off so open carriages could be used.

Their route along Whitehall, through Admiralty Arch and along The Mall was lined by more than 1,000 servicemen and women from the three services.

The first and second divisions of the Sovereign's Escort led the way ahead of the Queen's carriage and as each section of the crowd saw the monarch, screams and shouts went up.

The Queen sat next to Camilla and opposite was Charles, with all three royals waving and smiling at the spectators.

William and Kate also acknowledged the crowds and appeared to be enjoying the moment, with Harry sitting in front of them chatting away.

The procession travelled down Whitehall past Downing Street and the Cenotaph and into Trafalgar Square, packed with well-wishers.

When they reached The Mall, thousands cheered them and the royals were waving continuously.

Overhead were huge Union flags and the crowds stretched back into St James's Park waving their smaller Union flags and shouting.

The concert stands close to Buckingham Palace, where guests had watched Stevie Wonder, Sir Paul McCartney and others perform in tribute to the Queen last night, were full of spectators waving and cheering.

The procession finally reached the Palace forecourt and disappeared out of view through an arch into the quadrangle.