The Duke and Duchess of Cambridge with Prince Harry, right, attend the Diamond Jubilee concert in London, June 4, 2012.
(Credit: AP)Some 12,000 contest winners sat in bleachers, while a huge crowd stretched down the Mall, the wide boulevard leading up to the palace.
Pictures: Diamond Jubilee ConcertPictures: Festive scene on Thames for queen's Jubilee
Complete coverage: The Queen's Diamond Jubilee
Members of the royal family including Prince Charles, his wife Camilla, Duchess of Cornwall, Princes William and Harry, and Catherine, Duchess of Cambridge, sat alongside the queen in a royal box to watch the show, performed on a specially erected stage outside the palace.
The queen was cheered as she arrived partway through the show, wearing a gold cocktail dress under a dark cape.
The show opened in a blaze of sound and color, as the band of the Coldstream Guards joined Robbie Williams onstage for his hit "Let Me Entertain You."
Black Eyed Peas star Will.i.am performed at the concert, along with Jessie J, boy band JLS and singer Cheryl Cole. British singer-songwriter Ed Sheeran also took the stage, and Jamaican vocalist Grace Jones sang "Slave to the Rhythm" while spinning a hula hoop.
Wearing a sparkly dress and angel wings, Annie Lennox performed "There Must Be An Angel." Sir Tom Jones, who sang "Delilah," described performing at the event as a "once-in-a-lifetime" opportunity. He told CBS News, "When you get a royal wedding or a Jubilee - and it brings people together, you see happiness on people's faces ... It's very exciting."
Prince Harry, meanwhile, could be seen singing along - "Why, why why?" - as Jones performed "Delilah."
Sir Cliff Richard sang a medley of hits, including his 1968 song, "Congratulations," and the crowd cheered as Shirley Bassey sang "Diamonds are Forever."
Concertgoers were treated to a performance by Australian singer Kylie Minogue, who was joined by dance group, Flawless.
Stevie Wonder did a few hits, including "Superstition," even changing the lyrics to include the "Queen's Diamond Jubilee."
English ska/pop band Madness performed "Our House" and "It Must Be Love" on the roof of Buckingham Palace.
The queen's husband, Prince Philip, missed the concert after being hospitalized with a bladder infection.
"I hope he's OK," said Paul McCartney, who is due to close Monday's concert. "We all send our best wishes for a speedy recovery."
Palace officials said the prince, who will turn 91 on Saturday, was taken to a London hospital on Monday as a precaution and will remain under observation for a few days.
