Royals meet and greet well-wishers at Sandringham in Norfolk

Some queued as early as 4am to see the family as they left St Mary Magdalene Church on the royal estate.

Princess Kate, King Charles and others received flowers and gifts from well-wishers who number in the hundreds. 

King Charles III and Queen Camilla, followed by the Prince of Wales, Prince George, Prince Louis and the Princess of Wales, after attending the Christmas Day morning church service (Image: PA)

Princess Charlotte, the Prince of Wales, Prince George, Prince Louis and the Princess of Wales (Image: PA)

Members of the royal family are meeting and greeting thousands of well-wishers at Sandringham (Image: PA)

Sarah, Duchess of York was publicly back at the heart of the royal family after joining the King and Queen at church on Christmas Day

The former royal, who has had a troubled relationship with the monarchy, was pictured, smiling, and glancing towards the waiting media as she walked beside her ex-husband, the disgraced Duke of York.

Royal fans were treated to the sight of the Prince and Princess of Wales walking hand in hand with their children Prince George, Princess Charlotte and Prince Louis from Sandringham house on their way to St Mary Magdalene Church.

Mia Tindall and the Princess of Wales meet well-wishers (Image: PA)

Princess Charlotte, Prince Louis and the Prince of Wales meet well-wishers after attending the Christmas Day morning church service (Image: PA)

Prince Louis after attending the Christmas Day morning church service (Image: PA)

The King and Queen led the way smiling at more than 2,000 well-wishers gathered to watch the traditional procession of royals to church, with many waiting hours to get a prime spot.

Among the group were the Princess Royal and her husband Vice Admiral Sir Timothy Laurence, the Duke and Duchess of Edinburgh, and the Tindalls with their other daughter Lena.

Duke and Duchess of Edinburgh were joined by their children Lady Louise Windsor and Viscount Severn.

The Princess of Wales with well-wishers (Image: PA)

King Charles III meets well-wishers (Image: PA)

For the second year in succession, Andrew made the walk from Sandringham to church with the other royals – symbolic of his gradual rehabilitation within the monarchy.

His daughters Princess Beatrice, who walked with her partner Edoardo Mapelli Mozzi, and Prince Eugenie, with her spouse Jack Brooksbank, also attended.

After the service, Andrew and Sarah joined the King and Queen and Prince and Princess of Wales, meeting the waiting public during a walkabout.

The Duke of York meets well-wishers (Image: PA)

The Princess Royal meets well-wishers (Image: PA)

Sarah, Duchess of York, after attending the Christmas Day morning church service (Image: PA)

The Duke and Duchess of Edinburgh (Image: PA)