An audience of veterans, military, senior figures and local residents watched an hour-long performance telling the story of D-Day and the meticulous planning by allied forces that paved the way for the invasion of Normandy.
Speaking in Portsmouth, the Queen thanked those who fought on D-Day for their "heroism, courage and sacrifice".
Captain Craig Wood, Commander of the Portsmouth Flotilla, said:
“It’s wonderful for the people of Portsmouth, the people of the local area to be able to be part of this today, because the generation who have gone before us actually had to sacrifice quite a significant amount during those long years of the war.”
Sally Pattenden, 42, from Southsea, said the day made her "very proud to be British".
She said a number of family members had served with the armed forces, including her grandfather during the war.
"I am very proud to be British and to have this connection in my life," she said.
"I think our armed forces are among the best in the world.
"When I stood and listened and sang along to the Vera Lynn song We'll Meet Again, I felt a sense of nostalgia."