The monarch, 95, dressed in dark green in a touching subtle tribute to Prince Philip, whose livery colour was Edinburgh Green.
On entering and leaving the service, she was accompanied by her son Prince Andrew in what is his first public appearance since settling a civil sexual assault case.
During the service, Prince Philip, who died last April aged 99, was remembered as a “man of rare ability and distinction”.
It was attended by senior members of the royal family including the Prince of Wales, the Duchess of Cornwall the Cambridges and Princess Anne.
Harry and Meghan did not attend the service.
Around 30 foreign royals attended, including Prince Albert of Monaco, Denmark’s Queen Margrethe, King Harald and Queen Sonja of Norway, and Spain’s King Felipe VI and Queen Letizia.
Representatives of his charities, including the Duke of Edinburgh’s Award, will be in the 1,800-strong congregation.
Prime Minister Boris Johnson, who publicly apologised to the Queen and the country over gatherings in Downing Street on the eve of the duke’s funeral, was also present.
Duke of Edinburgh Memorial Service
We will be bringing you live updates of Prince Philip’s memorial service
11:51 , Elly Blake
The Standard will be bring you live coverage of the Duke of Edinburgh’s thanksgiving service at Westminster Abbey as they happen.
Ahead of the service, a crowd congregated beside barriers near the entrance to the abbey in an attempt to catch a glimpse of royal family members making their way inside.
The Queen is remembering her husband of 73 years at the ceremony.
Also in attendance in Prince Wales, the Duchess of Cornwall, the Cambridges, Prince Andrew and other members of the royal family.
Prime Minister Boris Johnson along with cabinet members Rishi Sunak, Priti Patel and Liz Struss were seen arriving. Sir Keir Starmer is also there.
Nicola Sturgeon, Mark Drakeford and Sir Jeffrey Donaldson were photographed as they made their way into the abbey.
Queen accompanied to seat by her son Prince Andrew
11:53 , Elly Blake
The monarch, 95, dressed in green, was accompanied by her son Prince Andrew as she arrived at the thanksgiving service for her husband of 73 years.
As they walked through the famous Poets’ Corner towards her seat in the abbey, in a small procession, the monarch held onto her son’s elbow with her left hand and had a walking stick in her right.
They walked at a slow but steady pace both looking ahead, and at the end of the aisle they separated – with Andrew giving a last glance to his mother as she turned right.
After the first hymn, Charles could be seen leaning over to speak to the Queen seated next to him.
It is her first public appearance in five months, and since she recovered from coronavirus.
Congregation hears from woman who participated in Duke of Edinburgh’s award
11:58 , Elly Blake
In a tribute to Prince Philip’s legacy, Westminster Abbey heard from a Gold Award Holder of the Duke of Edinburgh’s Award.
Doyin Sonibare said that “over the years, the award remained a prominent part of my life”.
She credited the award with helping her get her first job. Ms Sobinbare told the service: “All the answers in my CV and interview were all related to work I had previously done with the award.”
“On reflection, I never thought I could do half of the things I have done in the last decade, yet I’ve been able to do so because of the opportunities presented to me.
“In 1956, when The Duke of Edinburgh created the award, he had a vision to create a programme which supported the development of young people all over the world. Today, you’ve learnt how his legacy has impacted me and how it will continue to impact future generations to come.”
Read more about Ms Sonibare’s story here.
Queen’s great-grandchildren at Westminster Abbey
12:03 , Elly Blake
Earlier, the Prince of Wales and Duchess of Cornwall arrived before the Cambridges and their children.
Charles and Camilla followed tradition and greeted the abbey’s chapter and a few minutes later the Duke and Duchess of Cambridge arrived with Prince George and Princess Charlotte.
William and his son walked along the receiving line shaking the hands of the clergy and George followed his father’s lead looking slightly nervous.
Kate then followed with Charlotte, putting a hand on her back and ushering her smiling daughter forward as she was introduced to the men and women, but she also looked a little apprehensive and at the end clutched onto her mother’s hand as they were led to their seats.
Dean of Westminster paid tribute to Prince Philip
12:05 , Elly Blake
The Very Reverend Dr David Hoyle, Dean of Westminster has paid tribute to the Duke of Edinburgh in an opening address.
He described Prince Phillip as “a man of rare ability and distinction, rightly honoured and celebrated, he ever-directed our attention away from himself.
“He put privilege to work and understood his rank as a spur to service.
“Working at pace, with so many claims on his attention, he encouraged us to focus, as he was focused, on the things that matter.”
Readings to honour the Duke
12:08 , Elly Blake
The first reading of the service was read by the Rt Hon Lord Wallace of Tankerness QC. He recited the First Lesson, Isaiah 40:25-31.
The Second Lesson, Philippians 4:4-9, was read by the Rt Rev and Rt Hon Dame Sarah Mullally DBE, Dean of Her Majesty’s Chapel Royals.
The 95-year-old monarch has been actively involved in the planning of this service of her husband of 73 years.
He died last April, aged 99.
The congregation then sang the hymn All Creatures of our God and King.
Royals dress in dark green in subtle tribute to the Duke
12:11 , Elly Blake
The Queen, the Duchess of Cornwall and the Princess Royal were all dressed in dark green.
It was seemingly a subtle tribute to Philip, whose livery colour was Edinburgh Green.
A number of others throughout the congregation also wore the shade, including Duke of Edinburgh Gold Award holder Doyin Sonibare who delivered a special tribute about the effect Philip’s youth scheme had on her life.
Elements missing from Duke’s funeral due to Covid-19 are featuring in today’s service
12:14 , Elly Blake
Following the Dean of Windsor’s address, the choir sang Te Deum in C by Benjamin Britten.
The hymn was originally selected by the Duke of Edinburgh when he was putting his own instructions together for his funeral service.
The memorial service is featuring elements he planned for his own funeral which were forbidden due to Covid-19 restrictions in April last year.
In line with government guidelines at the time, there was no congregational singing at the funeral service.
Missing gestures from Philip’s pre-pandemic arrangements saw Gold Duke of Edinburgh’s Award holders and members of the youth UK Cadet Force associations line the steps of Westminster Abbey as guests arrive.
It was also the Duke’s wish that clergy from the Royal Estates of Windsor, Sandringham and Balmoral - known as The Queen’s domestic chaplains - played a part, given his active role in the day-to-day management of the estates.
As this was not possible due to Covid restrictions, the Minister of Crathie Church, the Rector of Sandringham and the Chaplain to the Royal Chapel of All Saints, Windsor Great Park, offered prayers recognising Prince Philip’s energy and spirit of adventure.
Singing of the national anthem
12:20 , Elly Blake
The British national anthem, God Save The Queen, was sung at Westminster Abbey just before the thanksgiving service ended.
The Queen, 95, was escorted by her son Prince Andrew out of the memorial service via Poets’ Corner.
She greeted Gold Award Holder of the Duke of Edinburgh’s Award, Doyin Sonibare, and the Dean of Westminster, on her way out.
The monarch is understood to return to Windsor Castle.
The service has now finished
12:24 , Elly Blake
The service of thanksgiving has come to an end, with members of the royal family leaving Westminster Abbey.
The Queen, 95, was accompanied by the Duke of York to leave the abbey.
In pictures: Members of the royal family leave service as abbey bells toll
12:35 , Elly Blake
Prince Andrew pictured outside Westminster Abbey after service
12:51 , Elly Blake
Prince Andrew played a prominent role in the Duke of Edinburgh’s memorial service.
He escorted his mother, the Queen in and out of Westminster Abbey.
The monarch held onto Andrew’s elbow with her left hand as she moved slowly and gingerly to her place, using a walking stick in her right hand.
They entered via Poets Corner – a shorter route for the Queen’s comfort – in a small procession.
The monarch’s state limousine had arrived at Poets’ Yard entrance with Andrew sat beside her after they travelled from Windsor together.
It was his first public appearance since the settlement of a civil sexual assault case.
Queen waves to crowds as she leaves Westminster Abbey
12:53 , Elly Blake
The Queen, 95, waved to the crowds who had gathered outside Westminster Abbey as she departed her late husband’s memorial service.
The monarch, 95, had been determined to make the appearance at the deeply personal and significant occasion on Tuesday in honour of her “strength and stay” Philip – with her attendance only confirmed the same morning.
It was the Queen’s first major official engagement outside one of her homes for nearly six months, since she travelled to Cardiff to deliver a speech at the Welsh Senedd on October 14.
The Queen listened as the Dean of Windsor paid tribute to Philip’s intellect, work ethic, sense of humour and devotion to his family.
The Right Reverend David Conner described the duke as a “remarkable man” who was committed to “a host of down-to-earth enterprises”.
Downing Street: ‘Welcome’ to see the Queen at today’s service
12:54 , Elly Blake
Prime Minister Boris Johnson’s spokesperson has welcomed the Queen’s public appearance today - her first in five months.
“Clearly it is welcome to see Her Majesty out today, continuing her incredible decades of service to the country,” they said.
The Queen recently recovered from COVID and has suffered unspecified mobility issues.
She was seen holding the arm of her son Prince Andrew as she walked into the service and she also had a walking stick.
Mr Johnson attended the service, along with other members of his Cabinet including Rishi Sunak, Priti Patel and Liz Truss.
Pictured: Prince Charles leaves memorial service
12:57 , Elly Blake
The Prince of Wales was seen wiping away a tear as he left his father’s memorial service at Westminster Abbey.
During the service, Prince Philip had been described as a “man of rare ability and distinction”.
He died last April, aged 99.
Watch: Queen arrives at Duke of Edinburgh’s memorial service with Prince Andrew
13:06 , Daniel Keane
Queen, Camilla & Anne wear Edinburgh Green in tribute to Philip
13:17 , Daniel Keane
The Queen, the Duchess of Cornwall and the Princess Royal wore Edinburgh Green at Prince Philip’s memorial service today as a tribute to the late Duke.
The duke's official dark green livery colour was known as Edinburgh Green and it was used for his staff liveries and private cars.
The monarch's yellow gold, ruby and diamond scarab brooch was another nod to her late husband of more than 70 years. It was a personal gift from Philip in 1966.
Andrew’s role in ceremony ‘didn’t happen by chance’
13:22 , Elly Blake
The Duke of York's prominent role at the Westminster Abbey service - escorting his mother - was the Queen's way of showing that her second son still has a place at family occasions, according to a royal commentator.
Former BBC royal correspondent Peter Hunt said: "It didn't happen by chance.
"He could have sat in the congregation with others, with his relatives, but they actively decided that he would have this role of supporting her.
"So she has chosen, in essence, to remind people that he hasn't admitted any wrongdoing, he's not guilty of anything, he's innocent.
"And she's very clearly stating that he has a role at family occasions."
Andrew’s involvement is ‘reminder of his errors of judgment’
13:38 , Daniel Keane
Mr Hunt said the downside of Andrew having had such a prominent role in his father's memorial service is that it is a reminder of his "many errors of judgment that have led him to being removed from public life".
Mr Hunt said: “It’s one thing to accept that he should attend his father’s memorial service.
"It's quite another thing to then give him quite a prominent role, so it was an active choice to give him such a prominent role."
Mr Hunt said he found it "fascinating", and said: "Did William and Charles try to intervene? And clearly if they did then they failed."
He added: "I think you have to start from the basis that Charles and William will have been in the driving seat with the Queen of removing Andrew from public life.
"Both of them will have been very aware of the risks of Andrew having this role. So either they decided that they could justify it on the basis that it was an event for his father, or they did try to suggest this wasn't a good idea and the Queen chose not to listen to them."
Andrew’s role escorting Queen ‘may have been matter of practicality'
13:54 , Daniel Keane
The Duke of York’s role of escorting the Queen may have merely been a matter of “practicality”, another royal commentator has said.
Joe Little, managing editor of Majesty Magazine, said: “It’s hard to interpret how it came about.
“I’m not sure that the Queen would necessarily regard it in that way.”
He said it might have just been “a practicality as much as anything” and a plan that “fitted the purposes of the occasion”.
Royal commentator: ‘Andrew was coming from Windsor... it made sense'
14:06 , Elly Blake
Mr Little, of Majesty magazine, pointed out that, like the Queen, Andrew was also travelling from Windsor for the service.
Asked if he was surprised by Andrew’s role of escorting his mother, he told the PA news agency: “I suppose we should always expect the unexpected on big royal occasions, and I don’t think anybody had guessed that this is what would happen.
“But I suppose we could look at it in many ways, but the Queen was coming from Windsor. Andrew was coming from Windsor.
“So it made sense to have a member of the family travel with her.
“Clearly it’s the first time that we’ve seen him for a long time since all the legal wranglings were settled, so some people will argue that he shouldn’t have been as prominent, but then we have to remember that he was the Duke of Edinburgh’s son, so you know, really, he is just as entitled to be there as his siblings.”
Duke’s former protection officer blasts Harry’s ‘pathetic excuse’ for not attending
14:11 , Elly Blake
Richard Griffin, an ex-royal personal protection officer who worked with Prince Philip for 14 years, has paid tribute to his former boss and friend.
He described the Duke as an “absolute blessing” but said at times he could be “abrupt” and “rude”.
Mr Griffin also blasted Prince Harry, who lives in the US, for not attending the service.
He said it was a “big disappointment for everybody” that his grandson had not attending over concerns about personal protection.
The former personal protection officer said this was “nonsense” and a “pathetic excuse”.
Duke of Edinburgh participant said Queen thanked her for speech
14:24 , Elly Blake
After the service the Queen expressed her appreciation to Duke of Edinburgh Gold Award holder Doyin Sonibare, for her speech that described the impact Philip’s best remembered charitable project had on her life and career.
Ms Sonibare, 28, said “She thanked me for my speech – she was lovely, really kind. And she asked what I did for my Duke of Edinburgh’s award.”
The 28-year-old, who has an ambassador role with the award, said: “I just got a message from my mum, she said ‘Congratulations, really proud of you’.”
Many of the royal women, including the Queen wore green outfits, as did Ms Sonibare, she said: “I think it was just a crazy coincidence if I’m honest, but it’s quite nice, like we’re all in sync.”
She described how she received her gold award from the Earl of Wessex but met Philip briefly when he opened an office for his awards organisation in London, around six years ago.
When told she had given a very assured performance in the Abbey she replied: “I was nervous inside, great it didn’t come across that way.”
That’s the end of our live coverage
14:25 , Elly Blake
Thank you for following our live updates of Prince Philip’s memorial service.
That’s all for now.