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The Prince of Wales, 69, was dressed in a traditional Scottish tartan kilt with red socks while his mother, 92, as dressed in turquoise and a matching floral hat, with a sparkling brooch.
The Queen changed into a lime green hat and dark jacket for a special church service with her son at Crathie Kirk Church in Aberdeenshire.
But Camilla, 71, was nowhere to be seen.
Prince Charles had travelled separately, and he waved at photographer as he drove himself to the service.
The Queen has regularly visited church with other members of the royal family during her holiday in Balmoral.
Just last week, she was accompanied by Kate, Duchess of Cambridge, who in April gave birth to Prince Louis, her third child with husband Prince William.
Despite Camilla’s absence, the Queen was joined by her son, Charles, and Princess Anne, who was pictured travelling by car with her mother.
Princess Anne wore a string floral hat and was dressed in blue for the trip to the church service.
As on the agenda for the visit was a trip to watch the Highland Games.
The Queen was seen beaming along with Prince Charles as they chuckled along with players for events such as hammer throwing and tug-of-war.
While at the event – which has been regularly attended by the royal family since Queen Victoria visited in 1848 – she opened the Duke of Rothesay Highland Games Pavilion.
The Queen goes to Balmoral for a summer holiday with members of the royal family every year.
This year’s holiday fell on the anniversary of the death of Princess Diana, who was killed in a car crash in Paris, France, 21 years ago.
Sons Prince Harry and William mourned for their mother in private after Kensington Palace revealed no public events were scheduled to mark the anniversary.
Diana’s lover, Dodi Fayad, 42, was also killed in the horror crash along with the 36-year-old People’s Princess.
Diana, Princess of Wales, married Charles in 1981.
The pair divorced seven years later.
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