Cheryl Cole, Sarah Harding, Nicola Roberts, Nadine Coyle and Kimberley Walsh wore matching black and gold-sequinned tulip cut gowns as they performed their hit single 'The Promise' at the Royal Albert Hall.
David Walliams hosted the ceremony and arrived on stage attached to a jet pack, similar to the Queen's spoof stunt with James Bond's Daniel Craig at the London 2012 Opening Ceremony.
Other guests included Kylie Minogue, wearing a gold gown slit to the thigh, Britain's Got Talent winners Pudsey and Ashleigh Butler and One Direction, who performed a special version of new single 'Little Things'.
Taking to Twitter after the event, Cole wrote: "The Queen is so delicate. She has hair like candy floss and tiny little dancing style shoes .. Awww #theroyalvariety2012."
Current Strictly Come Dancing star Walsh added on her Twitter page: "Cannot believe I just met the Queen! What an amazing night! #royalvariety2012."
Nicola later wrote: "I'm so excited I've just met the Queen. I've always wanted too meet her. She was sparkling from head to toe #royalvariety2012."
The Royal Variety Performance is due to be broadcast on ITV1 on December 3.