4 June 2012 Last updated at 20:35

In pictures: Diamond Jubilee concert

Diamond Jubilee picture galleries

Thousands of spectators gathered outside Buckingham Palace and on The Mall to watch a star-studded concert to mark the Queen's Diamond Jubilee.

Guardsmen line the stage at the start of the Queen's Diamond Jubilee Concert

The event kicked off with the Band of the Scots Guards performing for a huge crowd, many of whom had been queuing since the early hours of the day.

Singer Robbie Williams performs on stage

Pop star Robbie Williams then took to the specially-constructed stage around the Queen Victoria Memorial to sing his hit Let Me Entertain You.

Williams was followed on stage by Black Eyed Peas star will.i.am, his fellow Voice judge Jessie J and boy band JLS.

The Duke and Duchess of Cambridge with Prince Harry attend The Diamond Jubilee Concert

The Duke of Edinburgh will not attend after being taken to hospital with a bladder infection. However, Prince Charles, his sons Prince William and Prince Harry and other members of the Royal Family took their seats in the royal box

The event is a joint venture between the BBC and Gary Barlow, who co-wrote Sing, the official song for the Diamond Jubilee celebrations. Barlow took to the stage to perform a surprise duet with Cheryl Cole.

Next on the bill was Sir Cliff Richard, who performed a medley of decade-straddling hits and his 1968 Eurovision track Congratulations.

Jamaican singer, actress and model Grace Jones performs

Singer Grace Jones surely deserved some herself for performing Slave to the Rhythm while spinning a hula hoop around her midriff.

A large crowd fills The Mall in front of Buckingham Palace to watch The Diamond Jubilee Concert on big screens

Between the music acts, hosting duties were handled by Rob Brydon, Miranda Hart, Lenny Henry and Lee Mack.

Musician Lang Lang performs on stage during the Diamond Jubilee concert

The world of classical music was represented by pianist Lang Lang and tenor Alfie Boe.

Queen Elizabeth II attends The Diamond Jubilee Concert outside Buckingham Palace

The Queen was not present for the first 90 minutes of the concert, taking her seat in the Royal Box at 21:00 BST.

Other artists who have performed include Annie Lennox, Ed Sheeran and Sir Tom Jones.

Shirley Bassey performs "Diamonds Are Forever" during the Diamond Jubilee concert

Dame Shirley Bassey performed the James Bond theme Diamonds are Forever.

While Kylie Minogue - dressed as a pearly queen - was joined by street dance crew Flawless.

She was followed by Sir Elton John, who sang such tracks as Crocodile Rock and Your Song in a sparkly pink jacket.

Stevie Wonder took the opportunity to wish the Queen a happy birthday during a set that included Superstition and Isn't She Lovely. Though the monarch was born on 21 April, her official birthday is traditionally celebrated at the beginning of June.

Madness perform on the roof of Buckingham Palace

Pop veterans Madness then performed Our House from the roof of Buckingham Palace.

Sir Paul McCartney on stage outside Buckingham Palace during the Diamond Jubilee Concert.

Sir Paul McCartney was the final act on a night that ended when the Queen lit a beacon to mark her 60-year reign.

Prince Charles appears on stage with his mother, the Queen

At the end of the night, Prince Charles appeared on stage with his mother and thanked her for "making us proud to be British". "As a nation, this is our opportunity to thank you and my father for always being there for us," he said.