The 97-year-old looked sharp in a grey suit with blue tie as travelled with the Queen to the church in the her royal Bentley.
The Queen, 92, was also joined by other royal family members including Zara and Mike Tindall, who welcomed their second daughter Lena on June 18.
Camilla, Prince Edward, Sophie Wessex and their 14-year-old daughter Lady Louise were also present.
Prince Philip surprised the Queen by joining her unexpectedly for their summer break at Balmoral, where he has been fishing and hunting.
Royal sources say the Duke of Edinburgh, who was rumoured to have died on social media last month, seems “as fit as a fiddle”.
Philip, who had a hip replaced in June, arrived on Royal Deeside, Aberdeenshire, last Monday.
He has spent the week fishing with friends and family, stalking deer and sharing picnics and barbecues.
An insider said: “He no longer shoots after having a stent in his heart a few years ago but he loves fishing and sometimes stands for hours in the River Dee.
“For his age he’s as fit as a fiddle.”
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