The Queen beamed, clapped and laughed throughout a special horse-themed event to celebrate her Platinum Jubilee Celebration.
A Gallop Through History featured acting and musical performances alongside horse displays, with a special appearance from the Monarch's "favourite granddaughter", Lady Louise Windsor.
The Monarch was given a standing ovation when she was driven into the Royal Windsor Horse Show arena on Sunday evening, accompanied by her son Prince Edward.
Dressed in a blue dress with a sparkly shawl, she used her walking stick as she walked along a red carpet to take her seat in the Royal Box. She sat with a blanket over her knees throughout the event, which ran for more than two hours.
The appearance is the Queen's second public outing in just a few days after she was forced to miss the State Opening of Parliament last week due to on-going mobility issues.
More than 1,300 performers and 500 horses were part of the evening's entertainment, including guests from Norway, Oman, Azerbaijan, Canada, India, France, Scotland, Wales, Northern Ireland.
A whole host of A-list stars took to the stage re-inacting key moments of royal history, including Dame Helen Mirren, Tom Cruise, Damian Lewis, Omid Djalili, Adjoa Andoh, Gregory Porter, Martin Clunes, Keala Settle, Alan Titchmarsh and Katherine Jenkins.
The Queen's daughter Princess Anne was “visibly moved” when she watched an earlier version of the show on Saturday evening, telling host comedian Omid Djalili: “Mama will like this”
Phillip Schofield and Julie Etchingham hosted the evening from the grounds of Windsor Castle.
Highlights included the Royal Cavalry of Oman's performance, which featured the incredibly impressive skill of getting horses to lie down on command.
The Queen particually seemed to enjoy the 'drum off' and a performance from Azerbaijan, which saw riders perform tricks and impressive moves on the backs of horses who were galloping around the arena.
Tom Cruise was tasked with introducing another key moment of the evening, a performance by The King’s Troop Royal Horse Artillery.
He said: “It takes huge courage and discipline to do what they do, galloping with guns that were fired in the battles of the First World War, weighing one-and-a-half tonnes, with no brakes.
“The drive demonstrates absolute trust between horse and rider.”
Dame Helen Mirren was one of the first stars to take to the stage, delivering a powerful speech dressed as Queen Elizabeth I.
Singer Katherine Jenkins, who sang two songs during the evening, described being part of the event as a "massive honour".
She said: "It’s so amazing to be part of today, the kick-off to the Platinum Jubilee celebrations.
"It’s a massive honour, of course, to be invited to sing for Her Majesty at any time, but I think especially for the show this evening. I’m a massive fan of hers.
"I think she’s, you know, so incredible, such a great role model and it’s nice to have the opportunity to all come together and show our deep gratitude for all that she’s done for the country and the Commonwealth."
Hollywood's Tom Cruise caused great excitement when he arrived for a sound check ahead of the start of the show, walking through Windsor on his way to the castle.
The Hollywood A lister looked tanned and relaxed as she strode to the main arena close to Windsor Castle and posed for a few selfies with members of the public.
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Speaking ahead of his starring role, he said: “What she has accomplished is historic. She has met presidents, world leaders, people from all walks of life.
“Not just Americans, but the world knows the dignity, devotion and kindness, that is what I have always felt about her.
“Someone that understands her position and has held it through a history that’s just been extraordinary the past 70 years.”
Kicking off the evening, Greatest Showman star Keala Settle was joined by 54 children from The Commonwealth Youth Choir to perform the song 'Sing', written by Gary Barlow and Andrew Lloyd Webber, which is said to be one of the Queen's favourites.
