Her Majesty told the crowd that she was 'sorry to be leaving again' after the service at the church of St Peter and St Paul at West Newton, on the Sandringham Estate.
She looked relaxed and well-rested as she collected flowers and gifts from the well-wishers that had braved the Sunday morning chill to see her.
Together with the Duke of Edinburgh, they arrived in the Royal Bentley shortly before 11am for the service conducted by the Rector of Sandringham, Canon Jonathan Riviere.
During the service, regular Royal-watcher Alan Mowton, of Fosdyke near Boston, Lincs, said: 'There's always such a lovely atmosphere. West Newton is extra special to visit because the crowd gets to be so close to The Queen.
'Where else would you get the opportunity to do something like this? You wouldn't - would you?'
Mr Mowton said that he had been in the crowd outside for every church service on the Royal Estate this year while The Queen was in residence at Sandringham.
He is usually with his partner Hazel Needham, another familiar face in the crowd, but she was feeling off colour this morning.
Mr Mowton, 56, added: 'She would have loved to have been here. We both feel a little bit sad this is The Queen's last Sunday in Norfolk.'
Her Majesty opted for a deep red coat and matching hat for the sunny, yet crisp winter's morning in west Norfolk. Her outfit was accessorised with a distinctive gold brooch, and pearls around her neck with matching earrings.
The red hat completed the look. It had an elegant red feather and black detail, which matched her black gloves and handbag.
Also soaking up the atmosphere were visitors from the United States.
Elaine Collier, 50, from Champagne in Illinois, said: 'I think it is exciting to be here. It's great there are so many locals in the crowd wishing her well.
'For us, it is the equivalent of meeting our president - and I've never even met him!'
During the service, Her Majesty presented prizes to 23 children from the Sandringham Group Sunday School. Members read the lessons and the prayers before performing a short place Talitha Cumi, which means 'Little Girl Rise' and is based on the story of Jairus' daughter.
Afterwards, members of the congregation, including Her Majesty, gathered in the village hall for watch another children's performance 'Out of the Mouths of Babes'.
'This reflected the thoughts of our members when Her Majesty the Queen became Britain's longest reigning monarch,' said a report from the Sunday School.
- Have you seen Her Majesty while she has been in residence at Sandringham this year? Email louise.hepburn@archant.co.uk
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