About 1,000 soldiers marched to House Guards Parade in Whitehall, central London, as part of the ceremony, which marked Queen Elizabeth's 92nd birthday.
Princess Diana also never wore a short-sleeved look to the official celebration of the Queen's birthday from her first appearance in 1981.
He joined the other royal colonels riding behind the Queen's Ascot Landau carriage, Charles who is Colonel of the Welsh Guards, Anne, Colonel of the Blues and Royals, and William, Colonel of the Irish Guards.
The ceremony has taken place for more than 250 years. His absence had nothing to do with his recent hip surgery. Such was the case during Meghan and Harry's return to Buckingham Palace, when she could be seen trying to keep her hair in some semblance of order. He will celebrate his 97th birthday Sunday.
On Saturday, Meghan was pictured wearing a pale pink dress with matching hat, while Harry was in military uniform.
Queen Elizabeth and Prince Philip stayed their in 2005.
Instagram princesseugenieShe shared the snap ahead of Father's Day this weekend reportedly very close to her father
While Harry and Meghan's premier tour has caused a buzz of excitement in the global media, fears have been raised about the couple's desire to start a family as soon as possible.
As soon as the Queen was in sight, Kate, who was slightly in front of Meghan, smiled and lead the way with her curtesy.
Prince Harry and his new bride Meghan will visit Australia in October during their first official overseas tour, Kensington Palace has announced.
Meghan Markle is not one to shy away from a style risk.
All four countries on the tour are members of the Commonwealth, the 53-nation grouping for which Harry is a youth ambassador.
We wouldn't be surprised if that's really what he said. It will be Harry's first time in Ireland, but Meghan visited Dublin in 2014.
Canadian Grand Prix - Strategy guide
So I am just focusing on what is ahead, and I am confident that I can turn things around. It could have been better but everybody makes it so dramatic'.