The service was held on Monday despite the fact that the couple's actual 60th wedding anniversary is on Tuesday. They are set to fly to Malta, where they first met, to celebrate.
More than 30 family members were among 2,000 guests at Westminster Abbey. Other guests included 10 couples who were also married on 20 November 1947, as well as five choristers from the 1947 service.
Blessing the couple, the Archbishop of Canterbury asked the royals to "renew in your hearts promises you made to one another."
Prince William also gave a reading from the Bible, quoting from 1 John 4: 7-16, which includes the passage, "Beloved, let us love one another: for love is of God; and every one that loveth is born of God, and knoweth God."
Elizabeth II is the first British monarch to celebrate a diamond wedding anniversary.
Prince Phillip has been in the background for much of his marriage to the present British queen, only occasionally making the headlines for his at times racist gaffes.
