The colourful military spectacle was halted about 18 months ago to avoid attracting huge crowds of tourists during lockdown.
But on Monday the familiar sight returned, with a musical backdrop paying tribute to the success of Team GB during the Olympics.
The 1st Battalion the Coldstream Guards were dressed in their scarlet tunics and famous bearskin hats as they marched from nearby Wellington Barracks to the palace to take over the duty from the old guard, Nijmegen Company Grenadier Guards.
Tunes played by the Band of the Coldstream Guards in honour of Team GB included Spandau Ballet’s Gold, The Olympic Theme, Chariots of Fire and Whitney Houston’s One Moment In Time.
Groups of tourists gathered to watch the event.
Garrison Sergeant Major Andrew Stokes, of the Coldstream Guards, who was in charge of the ceremony’s return, said: “It’s been a long time coming.”
He added: “Bearing in mind it’s been 18 months since we last did a ceremonial Changing the Guard, there’s been an awful lot of hard work and preparation getting people up to standard.”
Some of those taking part in the complex parade were carrying out the duty for the first time.
“Eighteen months is a long time in the military - it’s a young man’s game - so there’ll be a lot of people on duty today that have been in the Army for 18 months but of course have never done this because we haven’t had the opportunity,” Garrison Sergeant Major Stokes said.
“The guardsmen enjoy it because lots of members of the public and tourists come and watch - sometimes up to 20,000 in the middle of summer.
“The musicians enjoy it because they get to practise their skill in front of a willing audience, and it instils an awful lot of pride knowing that all these people have come to watch these very young guardsmen and musicians.”
The prestigious Household Division of the Army carries out state ceremonial and public duties, such as Trooping the Colour, the State Opening of Parliament and mounting the Queen’s Guard at Buckingham Palace, the Tower of London and Windsor Castle.
The Guard ceremony also resumed at St James’s Palace.