The BBC said the queen's husband Prince Philip, who turned 97 Sunday, did not attend.
People magazine reported Middleton was seen comforting tearful 3-year-old Charlotte after she lost her balance and fell while watching planes fly by with her family on the terrace of Buckingham Palace.
Field Marshal Lord Guthrie, the 79-year-old former head of the army and chief of defense staff, fell from his horse during the parade and was taken to the hospital, the BBC said.
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