The 90-year-old has not been seen since for more than five weeks and missed traditional church services at Sandringham on Christmas and New Year's Day.
It was the first time in 28 years that the Queen had missed the traditional Christmas Day service at Sandringham.
The Queen arrived by car, sat next to Prince Philip at Sandringham's 16th century St Mary Magdalene church just before 11am this morning.
The Duke and Duchess of Cambridge also attended the service, along with Kate's family.
Buckingham Palace said the Queen had been suffering from a "heavy cold", as was the Duke of Edinburgh.
While they both delayed plans to travel to Sandringham and missed their yearly train trip down Prince Philip did appear at church on Christmas.
Princess Anne told well-wishers that her mother was feeling "better" as she attended church with her father Prince Philip, 95, last Sunday.
Royal insiders indicated that the Queen’s illness had developed a “hacking cough” and she and not wanted to disturb other worshippers if she had attended.
While there had been growing concern over her health Buckingham Palace officials had indicated that there was "no cause for concern".
The Queen had been well enough to carry out some low-key official duties.
She presented an honour to a trusted member of staff behind closed doors at Sandringham House last week.
Court Circular records state that she invested Ray Wheaton, her Page of the Chambers, with the insignia of Lieutenant of the Royal Victorian Order.
The Queen was last seen in public on December 1 when she visited Goodenough College British and international postgraduate students in London.
She has also had a number of private meetings with politicians and diplomats behind closed doors at Buckingham Palace.
The Queen is not expected to to be seen in public now until after she returnes to Buckingham Palace, some time in the first or second week of February.
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