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The monarch, 92, looked elegant in the Angela Kelly-designed outfit as she arrived at the famous Berkshire racecourse by horse and carriage.
She was joined in her carriage by the Earl of Snowdon, Peter Troughton and John Warren
She waved to the crowd as a band played God Save the Queen.
The Queen, an avid horse-racing fan, has attended Royal Ascot every year since she ascended to the throne in 1962.
She spoke fondly of the event in the foreword for this year’s programme, saying: “My family and I greatly look forward to Royal Ascot.
“Tradition and innovation sit comfortably together over five days of racing.”
At Ladies’ Day yesterday, she wore a Stewart Parvin pink A-line coat and a silk dress in shades of lilac and pink.
The monarch completed her outfit with a matching hat by British milliner Rachel Trevor-Morgan.
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