Led by the Queen, who arrived in a Bentley, the royals made their way from Sandringham House to St Mary Magdalene Church for the traditional service.
The other members of the family made the short journey on foot.
Hundreds of well-wishers had gathered in the rain to catch a glimpse of the monarch and other senior members of the Royal Family.
The Queen, who arrived in Norfolk by train last week, wore a red coat and hat with fur trim, and held a matching umbrella.
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