Queen joined by Charles, Camilla and William for show of spectacular royal tradition at Knights of the Garter parade in Windsor

Chloe Chaplain
The Queen and Duchess of Cornwall leave in a carriage after attending the Most Noble Order of the Garter Ceremony: AFP/Getty Images

Hundreds of royal fans lined the streets of Windsor to enjoy the pomp and ceremony of the Garter service today as the Queen was joined by members of her family for the historic event.

Her Majesty attended with members of the order, including the Prince of Wales and Duke of Cambridge, at St George's Chapel where Prince Harry and Meghan married in May.

Dressed in lavish ceremonial gear, the Queen cheerily waved to waiting crowds from her open-topped carriage where she sat with Charles and Camilla, the Duchess of Cornwall.

Camilla looked elegant in a black and white jacket and dress which she teamed with a matching hat.

The Queen and Duchess of Cornwall leave in a carriage after attending the Most Noble Order of the Garter Ceremony (AFP/Getty Images)

Excitable crowds were treated to the sight of Garter Knights walking past wearing the traditional blue velvet robes and black velvet hats with white plumes.

Guards of the Blues and Royals regiment and the military band march around the crowds at Windsor Castle (Getty Images)

Among them were Princess Anne, the Duke of York, Earl of Wessex, Duke of Gloucester, Duke of Kent and Princess Alexandra.

The appointment of Knights of the Garter is in the Queen's gift and is made without consulting ministers.

The Queen leaves St George's Chapel (PA)

Recipients of the honour are chosen because they have held public office, contributed to national life or served the sovereign personally.

Prince William, right, Prince Andrew, second right, Prince Edward, left, and Edward's wife Sophie Countess of Wessex leave in a carriage (AP)

Other members of the order include former prime minister Sir John Major, Lord Phillips of Worth Matravers, a past president of the Supreme Court, and Admiral Lord Boyce, a former head of the UK's armed forces.

Princes Charles and William (Getty Images)

The Queen is sovereign of the order and a number of other British and foreign royals are additional knights of the order, including the Duke of Edinburgh, Charles and William.

Philip, who has effectively retired from official public duties, did not attend.