It has been a huge weekend of festivities and events all to help celebrate the Queen's Diamond Jubilee. But not even a milestone could prevent a hiccup from occurring prior to the Jubilee concert which took place at Buckingham Palace last night. Her Majesty was forced to miss half the concert after Prince Philip was taken to hospital with a bladder infection. Instead she was escorted by her son, Prince Charles, who sent the crowds into roars of cheers and applause after he delivered a heartfelt speech which paid tribute to his mother, Queen Elizabeth II, and gave her a kiss on the hand. Cute!

Joined by the rest of the royal family including the Duke and Duchess of Cambridge, the Diamond Jubilee concert went off with a bang thanks to a string of performances by some high profile entertainers. Leading the charge was Robbie Williams who burst onto stage with a rendition of his hit song, 'Let Me Entertain You.' This was followed by a number of duets including Will.i.am. and Jessie J, who looked incredible in Falguni and Shane Peacock. And Gary Barlow and Cheryl Cole who performed a version of Lady Antebellum's 'Need You Now'. The Girls Aloud singer made a huge impact on stage with her strapless ombre evening gown designed by Eva Minge.

Other highlights included Kylie Minogue who took to the stage to perform a medley of some her most popular hits including, 'Spinning Around', 'Can't Get You Out of My Head' and 'All the Lovers.' Wearing a military-inspired ensemble, the Aussie songbird used the moment to show off her enviable legs. For the concert Kylie wore a black bustier jumpsuit and leather bomber jacket which were embellished in large pearl buttons, and a matching hat. Grace Jones also went all out in a black and red corset, long cape and giant headdress. Totally OTT! Browse our gallery for a selection of highlights from the Queen's Diamond Jubilee concert.