The Inspiring Others award, which was presented by Gareth Southgate went to Major Scott Mills, the Royal Marines Head of Physical Training, for his training of the England football team ahead of this year's World Cup.
The Hero at Home Unit award went to the Joint Chemical, Biological, Radiological and Nuclear Task Force for their response to the Salisbury chemical attack.
Hero Overseas individual awards went to a group of British Army soldiers for their response to the Las Vegas shooting.
The Hero Overseas unit award went to HMS Daring for guarding shipping routes around the world.
An Innovation Award went to the Defence, Science and Technology Laboratory for its work on a sepsis diagnosis breakthrough.
The Support to the Armed Forces award went to remembrance group 'There But Not There' for their work commemorating the First World War.
A Judges' Award for Special Recognition award went to RAF100 for its success in celebrating the centenary of the Royal Air Force.
Tributes To The Military
Speaking on the red carpet, former Olympic athlete Dame Kelly who served in the Army herself for 10 years, said:
"We always say the word unsung heroes, well they absolutely are that. "They do fantastic work and we need to recognise them."
Lorraine Kelly, who was hosting the event, said:
"The way that the world is going they are about the only people we can actually trust. They do an amazing job and it is really important we say thanks, it really is."
Scott Ratcliffe, who serves in the Parachute Regiment and is the partner of Coronation Street actress Kym Marsh, said the awards were a "very special night for the military".
He added: "The families themselves are the ones that go through the most turmoil and if we can celebrate them as much as we celebrate the individuals who serve, I think that is particularly important because they are the ones that are left at home and have to keep the pieces together once we are away."
Defence Secretary Gavin Williamson, who hosted the nominees at a reception in 10 Downing Street, said it was an "honour" to attend the ceremony. He added:
"Whether by rescuing civilians from conflict, helping Salisbury recover from a reckless chemical attack or standing up to the appalling use of chemical weapons in Syria, tonight's nominees have shown the brilliance and bravery of our armed forces."
TV presenter Nick Knowles, who once helped to renovate homes for ex-soldiers on his programme DIY SOS, said the event was "a great thing to do". He added:
"We get to live our lives and have the freedom to do the things we do because of our forces looking after us and we want to make sure they are all looked after when they come home."