"It was humbling that so many chose to mark the anniversary of a duty which passed to me 60 years ago. People of all ages took the trouble to take part in various ways and in many nations," she said.
She labelled the London 2012 Games a "splendid summer of sport", with mention of the dedicated volunteers in the city's successful role as Olympics host.
"It is my prayer this Christmas Day that his example and teaching will continue to bring people together to give the best of themselves in the service of others," the Queen said of Jesus Christ. "I wish you all a very happy Christmas."
In behind-the-scenes footage to the speech, recorded on December 7, the monarch wears 3D glasses as she watches part of the broadcast, an experience she enjoyed, according to Buckingham Palace. The glasses are decorated on each side with the letter 'Q' formed by Swarovski crystals and were worn by the Queen during a visit to a movie training centre in Toronto in 2010.
A spokeswoman for the Palace said: "We wanted to do something a bit different and special in this Jubilee year, so doing it for the first time in 3D seemed a good thing to do. The Queen absolutely agreed straight away, there was no need for convincing at all."
-Independent