Trooping the Colour parade takes place in London for Queen's birthday

Prince George joined the Royal family on the Balcony of Buckingham Palace

The Royal family look on from Buckingham Palace after the Trooping the Colour parade (FACUNDO ARRIZABALAGA/EPA)

The Trooping the Colour parade has taken place in London as part of Queen Elizabeth II's official birthday celebration.

The annual ceremony took place on Horse Guards Parade, next to St. James's Park in London, part of a tradition stretching back centuries.

Queen Elizabeth II and Prince Phillip watch the Trooping the Colour parade at Horse Guard's Parade (Crown Copyright/EPA)

Joined by other members of the Royal family, the Queen inspected 1,100 soldiers of the Household Division during the ceremony.

The Queens returns to Buckingham Palace following the Trooping the Colour parade (FACUNDO ARRIZABALAGA/EPA)

Crowds amassed in central London to catch a glimpse of the Queen, the Duchess of Cambridge, any many other members of the Royal family, as they rode in horse-drawn carriages to the parade ground.

Prince Harry and Princess Catherine, the Duchess of Cambridge, return to Buckingham Palace after the parade

The Mall was flooded with red-jacketed soldiers, as they marched down towards horse guards parade - where they impressed onlookers with a display of precision marching and music.

Prince George waves to crowds from the balcony at Buckingham Palace (Chris Jackson/Getty)

After the ceremony, the Royals returned to Buckingham Palace, where they watched an RAF flypast.

The Red Arrows flypast, part of the Queen's official birthday celebrations (Roger Jackson)

Unfortunately, most of the flypast had to be cancelled due to bad weather in London, but a flyover from the Red Arrows went ahead, to the delight of Prince George.

Prince George looked pleased with the amassed crowds outside Buckingham Palace (Chris Jackson/Getty Images Europe)

The appearance of the Royal family on the balcony was also the first public appearance of the Duchess of Cambridge since she gave birth to Princess Charlotte in May.