Queen Elizabeth II at St Paul's Cathedral, London. PIC: Tim Ireland/PA Wire

In a message of thanks, her Majesty said she was deeply touched to see so many people coming together to mark the occasion.

The address read: “The events that I have attended to mark my Diamond Jubilee have been a humbling experience.

“It has touched me deeply to see so many thousands of families, neighbours and friends celebrating together in such a happy atmosphere.

“But Prince Philip and I want to take this opportunity to offer our special thanks and appreciation to all those who have had a hand in organising these Jubilee celebrations.

“It has been a massive challenge, and I am sure that everyone who has enjoyed these festive occasions realises how much work has been involved.

“I hope that memories of all this year’s happy events will brighten our lives for many years to come. I will continue to treasure and draw inspiration from the countless kindnesses shown to me in this country and throughout the Commonwealth.

“Thank you all.”

The broadcast, lasting just over two minutes, was recorded in the Presence Room in Buckingham Palace yesterday before the Jubilee Concert.

It was transmitted on television and radio at 6pm in the UK and across the Commonwealth, and was also made available on the Royal Channel on YouTube.

Broadcasts other than the traditional annual Christmas message are infrequent, although the Queen did address the nation on the Gulf War in February 1991.