The Duchess, Kate, wore a double breasted grey coat with fur-trimmed collar and cuffs and a bottle green fascinator.
The coat is believed to be by one of her favourite British designers, Catherine Walker. She wore a green Michael Kors dress underneath, and green suede shoes.
Princess Charlotte's razorbill coat picked up the bottle green theme from her mother.
Prince George also looked sharp in a navy blazer with matching trousers and jumper.
The Queen, wearing a red coat and hat, walked unaided down the church steps after the service and left in her chauffeured car with Sophie, Countess of Wessex.
The Duchess of Cambridge, holding her daughter's hand, curtseyed to the Queen from the steps as the car departed.
As they made the return journey after the service was over, the Cambridges spoke to well-wishers who were waiting to catch a glimpse of the royal family.
Back at the house, the family traditionally indulge in turkey, reared at Sandringham, before settling down to watch TV, including the Queen's Christmas Speech.