The Queen's barge travelled among the flotilla of tugs, steamers, pleasure cruisers, dragon boats and kayaks.
The London event was the highlight of the Jubilee weekend, but a fly-past was cancelled because of the weather.
Some 10,000 people joined a Greenwich street party, one of many in the UK marking 60 years of the Queen's reign.
The pageant - believed to be the Thames's most spectacular in 350 years - started at Albert Bridge with the ringing of Jubilee bells at 14:40 BST and ended as the last vessel completed the seven-mile route to Tower Bridge just after 18:00 BST.
The Queen, dressed in a white hat and a silver and white coat designed by Angela Kelly, travelled on the Spirit of Chartwell, which was decorated with 10,000 flowers from the royal estates.
She was accompanied by her family, including the Duke of Edinburgh, the Duke and Duchess of Cornwall, and the Duke and Duchess of Cambridge.
For further details click http://www.bbc.co.uk/news/uk-18312403
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