The group performance opened with Adam singing 'Bohemian Rhapsody', before Cee Lo and Blake joined him and launched into 'We Will Rock You', and eventually Christina took to the stage singing 'We Are The Champions'.
The collaboration opened the first live episode of The Voice and marked the start of the quarter-finals as Christina and Blake's team members took to the stage. The public can now vote for who they want to advance in the competition - and the judges will also be able to save one performer.
Adam and Cee Lo's teams will perform next Tuesday.
Christina also took to the stage on Tuesday night with her all-female team for a rendition of her hit track 'Lady Marmalade' (originally featuring Pink, Mya and Lil Kim), while Blake and his team performed 'This Love', originally by Adam's band Maroon 5.
The Voice continues Tuesday at 9/8c on NBC.
> The Voice recap: Christina Aguilera, Blake Shelton teams perform
Watch the Queen medley below (US only):
Watch Team Christina performing 'Lady Marmalade' (US only):
Watch Team Blake performing 'This Love' (US only):