Middleton, who rode in a horse and carriage with Prince Harry and Duchess of Cornwall Camilla for the occasion, waved and smiled to fans as she kept warm with a blanket covering her legs, according to Us Weekly.
Although the queen's actual birthday is April 21, the Trooping the Colour is the official celebration for her birthday.
Queen Elizabeth II rode ahead of them with her cousin, the Duke of Kent, with the Queen sporting a blue coat and matching hat. The Queen's husband, Prince Philip, was absent, as he is still hospitalized and recovering from abdominal surgery.
Prince William later joined his wife and the rest of the royals on the balcony of Buckingham Palace to watch the Royal Air Force's fly-past, wearing his ceremonial Colonel of the Irish Guards uniform.
The event marked Middleton's last official engagement before her maternity leave begins.
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