The Royal Family attended church on the Queen's Sandringham estate for the traditional Christmas Day service.

The Queen arrived accompanied, by the Duke of York, as the Duke of Edinburgh was not in attendance. A spokesman for the Palace said the Duke was in "perfectly good health" and was expected to be in attendance for the rest of the festivities at Sandringham House.

An estimated crowd of 4000 braved a chilly Christmas morning at Sandringham to see the Royal Family arrive for the service at the church of St Mary Magdalene on the 8000ha Norfolk estate.

Britain's Prince Harry and Meghan, Duchess of Sussex leave after attending the Christmas Day service at St Mary Magdalene Church in Sandringham. Photo / AP
Britain's Prince Harry and Meghan, Duchess of Sussex leave after attending the Christmas Day service at St Mary Magdalene Church in Sandringham. Photo / AP

Well-wishers cheered as the Duke and Duchess of Cambridge and Duke and Duchess of Sussex arrived and made their way to the service with the Prince of Wales.

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The Duchesses were seen chatting as they led the family through the gates of Sandringham House towards the church with the Prince just ahead of them in a camel coat.

The Duchess of Cambridge wore a red jacket with burgundy hat, gloves and high heels and a golden broach, while the Duchess of Sussex wore a dark navy dress, jacket and hat.

Britain's Prince William, and Kate, Duchess of Cambridge wave to the crowd. Photo / AP
Britain's Prince William, and Kate, Duchess of Cambridge wave to the crowd. Photo / AP

Last year the Duchess of Sussex made history when she became the first non-member of the Royal Family to attend the service.

The rest of the family arrived close behind. The Queen arrived by car to a round of applause. She wore a dove grey dress, jacket and hat accentuated with a fuchsia ribbon.

The Duchess of Cornwall was also not in attendance as she nurses a heavy cold that meant she also missed London's Olympia horse show.

The Queen leaves after attending the Christmas Day service at St Mary Magdalene Church. Photo / AP
The Queen leaves after attending the Christmas Day service at St Mary Magdalene Church. Photo / AP

Also in attendance was Peter Phillips, with daughters Savannah and Islam followed by Princess Beatrice and Autumn Phillips.

Behind them were newlyweds Princess Eugenie and Jack Brooksbank, who smiled at the crowds as they walked towards the church.

Towards the back of the group were the Earl and Countess of Wessex with their children, Lady Louise Windsor and Viscount Severn, the Princess Royal and Vice Admiral Sir Tim Laurence and Zara and Mike Tindall.

Britain's Royal family arrive to attend the Christmas day service. Photo / AP
Britain's Royal family arrive to attend the Christmas day service. Photo / AP

The service began with a rendition of God Save the Queen and included a retelling of the story of Jesus's birth and the carol O Come Let us Adore him.

Dedicated members of the public started to arrive as early as 4.30am. Ian Casswell, 80, who has come to Sandringham to see the Royal family for the past 30 years, drove for an hour from his home near Boston in Lincolnshire.

He's also attended royal weddings over the years and been invited to a Buckingham Palace garden party. He remembers the Dukes of Cambridge and Sussex when they were boys and says with them, the future of the royal family is in good hands.

The Duchesses of Cambridge and Sussex were seen chatting as they made their way to the service. Photo / AP
The Duchesses of Cambridge and Sussex were seen chatting as they made their way to the service. Photo / AP

"I think they're very impressive," he said,

Camilla Eyres, 56, set off from Cardiff at 3am to be in situ for her first Christmas Day at Sandringham. She decided to make the journey after her mother, who she had been caring for, died earlier this year.

"I really wanted to come and see everyone - and to support an institution of British history. It's a great atmosphere. I thought the family looked very, very well; very happy," she said.

This article originally appeared on the Daily Telegraph.