The 93-year-old monarch wore full dress and regalia, including a cloak, but opted against wearing the Imperial State Crown, choosing instead to place it on a table next to her instead.
It is only the third time in her reign that she has decided not to wear it for the ceremonial occasion, the last being in 2017 after the snap election, and in 1974, when there were two general elections.
The crown contains 2,868 diamonds, 17 sapphires, 11 emeralds, 269 pearls and four rubies and weighs approximately 2.5 lbs, so you can imagine how heavy that would be for the Queen to wear for an extended period of time.
The replacement crown is the George IV Diadem, a much lighter crown for the 93-year-old to wear comfortably.
Earlier on Monday, the Queen travelled by horse-drawn carriage from Buckingham Palace to Westminster to deliver her 65th Queen's Speech to Parliament.
Her Majesty was accompanied by her son Prince Charles in full regimental dress and the Duchess of Cornwall wearing the Greville tiara.
Many people took to Twitter to praise the Queen for her eloquent delivery and performance at the age of 93.
Not to mention still being able to walk so confidently in heels!
The pointed T-bar silver shoes the monarch wore this morning aren’t the only heels the Queen has worn recently.
Over the weekend her Royal Highness chose a style she frequents often, a black block heel in snakeskin pattern, and she’s rarely seen without a small heel for formal occasions.
It's no secret that at 93, Queen Elizabeth looks great for her age, and royal fans are often debating the secret to her youthful looks and abilities.
Perhaps one of her secrets to staying fit and healthy is the fact that she remains a keen equestrian, and still loves to ride whenever she is at Balmoral.
Stuart Miles, an anti-ageing expert, has previously pinpointed another key factor that he believes have contributed to the monarch’s youthful complexion: clean living.
She's also been careful to minimise sun damage over the years. "When abroad on foreign trips she has always worn a hat or carried a parasol which has protected her skin from the effects of the sun," Miles said.
The Queen’s diet may also contribute to her good health.
Former palace chef Darren McGrady told RecipesPlus that, unlike Prince Philip, who “lives to eat”, Queen Elizabeth sticks to small portion sizes, preferring four light meals instead of three larger ones.
The royal insider said the Queen doesn’t deny herself her favourite foods and for the monarch that includes chocolate biscuit cake.
"She'll take a small slice every day until eventually there is only one tiny piece, but you have to send that up, she wants to finish the whole of that cake," he said.
And unless she’s at a special occasion or dinner parties, Her Majesty avoids starches, potatoes and pasta. Instead, her daily eating menu typically consists of grilled fish or chicken with two types of vegetables.
She is also a fan of big bowls of salad, and fresh fruit.