At noon, the ceremony began with a recitation of Sir Winston Churchill's famous VE Day speech by actor Timothy Spall.
The King and Queen were then joined by the Prince and Princess of Wales, and their children Prince George, Princess Charlotte and Prince Louis, to watch a military procession through the capital on Monday.
The military procession, including Nato allies and more than 1,300 members of the UK armed forces, made its way from Parliament Square to Buckingham Palace.
The King stood and saluted as the procession reached the Queen Victoria Memorial.
Later, the King and Queen were joined for the VE Day flypast on the Buckingham Palace balcony by Prince William and Catherine and their children, along with the Princess Royal, her husband Vice Adm Sir Tim Laurence, the Duke and Duchess of Edinburgh and the Duke of Kent – a first cousin of the late queen.
A Lancaster bomber – the most successful RAF heavy bomber of World War Two – led the VE Day flypast, accompanied by aircraft including fighters jets, transport aircraft and the Red Arrows.
The flyover narrowly avoided heavy rainfall as the weather began to change as crowds dispersed.
