The event on Sunday, 15 May, was held at Windsor Castle and saw comedian Omid Djalili assume the role of "The Herald' – where he helped navigate the audience through different parts of the show.
The 56-year-old funny man laced several jokes into his act, with one being at the Queen's expense.
Directed at the Monarch, Djalili lightly jibed: ‘Thank you for choosing us over the State Opening of Parliament’.
The Queen famously missed this year's State Opening of Parliament for the first time in 59 years.
Citing 'episodic mobility problems', Prince Charles attended the Palace of Westminster in her absence.
While some might have feared how she'd react to the joke, the head of the Royal Family appeared to take it in good jest – waving her hand in the air in recognition.
Viewers were thoroughly amused by her response, with one writing: "Haha The Queen just raised her hand in agreement about choosing the #platinumjubilee over the state opening of Parliament. Love it!"
"Best moment of the Queen’s Platinum Jubilee Celebration concert! When Omid Djalili said 'thank you for choosing us over the State Opening of Parliament your Majesty', the Queen smiled & waved! Priceless!" another added.
"Omid Djalili 'Thank your for choosing us over the State Opening of Parliament' gets a huge laugh and a cheeky wave from the Queen. What a great sport she is!" another observed.
The festivities also included cameos from the likes of Dame Helen Mirren and Tom Cruise.
The Mission Impossible star gave an impassioned speech about the Monarch, while Dame Helen appeared as Elizabeth I for a historical reenactment.
The celebration of all things royal also saw nods to the historical importance of the Commonwealth, as well as the foiled gunpowder plot.
Other stars who appeared included: Adjoa Andoh, Lord Andrew Lloyd Webber, Ant and Dec, Dame Joan Collins, Sir Mo Farah, Dame Maureen Lipman, Sir David Jason, Alan Titchmarsh, Dame Kelly Holmes, Moira Stuart and Sir Trevor McDonald.
February marked 70 years that Queen Elizabeth has been on the throne, with the jubilee celebration finally taking place next month.
Already, she is the longest-reigning Monarch in British history, surpassing Queen Victoria's 63 years on the throne.
ITV's show is just the first of many special programmes dedicated Queen Elizabeth that will be hitting our screens over the coming weeks.
Featured Image Credit: ITV
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