Arriving by Range Rover, the Queen dressed in a turquoise tweed suit and emerald green hat, and the Duke, who opted for the kilt.
The Braemar Gathering was made fashionable by Queen Victoria who attended during her first visit to Balmoral in1848.
The Queen is the Royal patron of the event.
Lord Lieutenant of Aberdeenshire Angus Farquharson and his wife Allison greeted the Royal visitors.
George McIntosh, President of the Braemar Royal Highland Society, and Captain Mark Nicholson Laird of Maer Estate also attended.
Mr McIntosh presented the Queen with a brooch from the Society to celebrate her Golden Jubilee.
It came in the form of an eagle's feather fashioned in platinum, white gold and 24 carat gold on silver.
The brooch finely engraved and Jubilee hallmarked with the Queen's head stamped on the back.
The Queen and Prince Philip were in good spirits during their visit which lasted more than an hour at the village of Braemar, a short drive from Balmoral Castle.
The monarch wrapped herself in a tartan rug and wore black gloves to guard against the unpredictable conditions.
Grand finale
It rained steadily throughout the day, but the weather improved slightly during most of the Royal visit.
And both the Queen and Prince Philip pointed, laughed and clapped as youngsters competed in the sack race.
The Royals left Braemar about 1620 BST and organisers later said that more than 18,000 people attended this year's event.
The event is the traditional grand finale of the Highland Games circuit, but for many people the greatest attraction is the arrival of the Royal party from nearby Balmoral.
But the event has had competition over recent years from the Lonach Gathering, which attracts celebrities such as Billy Connolly, Robin Williams, Steve Martin and Ewan MacGregor.