Prince William and his wife Catherine threw a private bash at their Kensington Palace home to mark the occasion, with the 88-year-old monarch top of the exclusive guest list that included only royalty and close friends.
Queen's Elizabeth's green Bentley car was seen driving through the palace gates.
"We can confirm that the Queen has arrived at Kensington Palace," a royal spokeswoman told AFP.
In a short message, William and Kate thanked the public for their generosity towards their little prince over the last 12 months.
Grandfather Prince Charles and his wife Camilla were unable to attend the party as they are in Scotland on their annual summer visit.
However, George was not far from their thoughts as the Scottish Wildlife Trust gave the heir to the throne a giant red squirrel cuddly toy to pass on to little George.
Meanwhile the bells of Westminster Abbey in central London, where William and Kate got married in April 2011, rang out to mark George's birthday.
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