Wearing full ceremonial regalia, the Prince of Wales, Prince William, Prince Andrew (top and bottom right) and Princess Anne (inset) saluted as they rode out onto the Mall.
She was without her husband Prince Philip for the day, after the Duke of Edinburgh retired from official duties.
Meghan Markle made her debut on the Buckingham Palace balcony with the royal family on Saturday.
Their public appearance together followed media speculation in recent weeks that they had been on honeymoon, although Kensington Palace, Harry's office, has not provided details of any trip.
One person tweeted: "Amidst all today's pomp, circumstance and hullaballoo, I take my hat off to Meghan Markle's mum".
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"Meghan looked very much regally appropriate for such an important royal event", Amanda Dishaw of Meghan's Mirror told E!
After the ceremony the royal family will head back to Buckingham Palace and gather on the balcony to watch the RAF flypast.
Kate Middleton showed off her masterful mom skills on Saturday when she swooped into action after Princess Charlotte took a spill on the balcony of Buckingham Palace during the Trooping the Colour flypast.
The 92-year-old queen, whose real birthday is April 21, seemed vigorous as she keenly observed the event.
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The Queen received a rousing cheer from the crowds in the Mall as her procession went past.
It's the flawless opportunity for Meghan to learn the royal ropes, as it were, from Britain's longest-reigning monarch. Meghan has become particularly close to her father-in-law, who walked her down the aisle and was instrumental in helping Meghan and Harry with wedding planning. This, notes the magazine, marks a "major milestone" for the newest member of the royal family, as the train is only used "in an official capacity" by the Queen, Prince Philip and Prince Charles.
Meghan also had her hair styled in a bouncy blowout.
"I'm quite proud and I know that a lot of other people are proud of me as well".
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