The Princess Royal and her daughter Zara Tindall, with her family, also attended, along with the Duke and Duchess of Edinburgh.
The Christmas morning church service is a big event in the royal calendar, bringing together the Royal Family for a public appearance, with crowds and photographers capturing the moment.
People from across the UK, Europe and the United States queued up from 21:00 on Christmas Eve to wait for a chance to catch a glimpse of the Royal Family on Christmas Day.
Just before 11:00 the Royal Family arrived outside the church and were greeted by Reverend Canon Dr Paul Rhys Williams.
The service inside the church is being relayed by speakers to the crowd outside, who waited for the opportunity to chat to the royals afterwards.
Then, the royals will spend Christmas at their Sandringham estate, which has been the customary seasonal meeting place for the family since 1988.