This year the event marked the 85th birthday of the Sovereign who has reigned over the country since 1952.
The Colour being paraded on Horse Guards this year was the flag of the 1st Battalion Scots Guards.
In the past colours, or flags, were carried, or "trooped", down the ranks so that it could be seen and recognised by the soldiers as they were used as rallying points in the confusion of fighting. In the 18th century, guards from the Royal palaces assembled daily on Horse Guards to 'troop the colours', and in 1748 it was announced that the parade would also mark the Sovereign's official birthday.
Trooping the Colour originated from traditional preparations for battle.
The Duke and Duchess of Cambridge played prominent roles in this year's ceremony for first time.
Thousands of well wishers turned out to celebrate The Queen's official birthday.
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