The display, which included Spitfires, Hurricanes, a Lancaster bomber and the first public appearance in the UK of the F-35 Lightning stealth fighter, was the largest flypast over the capital in 10 years.
A huge crowd packed into The Mall to witness the spectacle.
A flypast by 22 Typhoons spells out the number 100
Image: A flypast by 22 Typhoons spells out the number 100
An RAF image showing the Red Arrows above central London
Image: An RAF image showing the Red Arrows above central London
The Royal Family were among those to watch the spectacle.
New royal Meghan took part in her first balcony appearance as she joined Harry, William, Kate and the other senior members of the family at Buckingham Palace.
Earlier, the Queen praised the Royal Air Force for its "tenacity, skill and gallantry" as she handed the organisation its new colour - a type of military flag or standard.
The Duchess of Sussex meets guests at Buckingham Palace reception
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Video: Meghan greets guests at palace reception
She said: "Presenting the Royal Air Force with a new Queen's Colour provides an opportunity to congratulate the service for your remarkable contribution to defence over the last 100 years.
"Tenacity, skill and gallantry have been your hallmarks as you helped safeguard freedom and security in many parts of the world.
"I remember the Battle of Britain being fought over the skies above us and we shall never forget the courage and sacrifice of that time."
The Queen and Meghan, Duchess of Sussex, watch a flypast to mark 100 years of the RAF
Image: The Queen and Meghan, Duchess of Sussex, watch a flypast to mark 100 years of the RAF
The Red Arrows fly over Nelson's Column
Image: The Red Arrows fly over Nelson's Column
The most dramatic moment came when 22 Typhoon Eurofighters formed into the shaped of the number 100 as they flew across the centre of the city.
Squadron Leader Mike Child said the arrangement had taken "months of planning", with pilots undertaking simulator training and multiple briefings.
They were closely followed by the Red Arrows, which let out a trail of smoke in the national colours of red, white and blue as they sped past in their usual V-shaped formation.
Service men and women spell out the number 100 in the forecourt of Buckingham Palace
Image: Service men and women spell out the number 100 in the forecourt of Buckingham Palace
The Metropolitan Police estimated there were between 65,000 and 70,000 people lining the streets of central London, many taking advantage of the 1pm timing to come out of their workplace on lunchbreaks to watch as the planes passed overhead.
The RAF was formed on 1 April 1918 when the British Army's Royal Flying Corps and the Royal Naval Air Service were amalgamated in response to the need to have a dedicated flying service.
Typhoons travel above The Mall with tens of thousands of people below
Image: Typhoons travel above The Mall with tens of thousands of people below
The Queen recalled how her father, King George VI, served alongside the founder of the RAF Lord Trenchard and was the first to qualify as one of its pilots.
The monarch, who is the RAF's Commodore-in-Chief, said the family tradition had continued ever since with the serving of her sons Prince Charles and Prince Andrew and her grandsons Prince William and Prince Harry.
A Lancaster, Spitfires and Hurricanes pass over central London
Image: A Lancaster, Spitfires and Hurricanes pass over central London
The RAF parade down The Mall before the handover of the new colour
Image: The RAF parade down The Mall before the handover of the new colour
The junior royals wore their RAF No 1 uniforms to the event, while Kate, who last year became a patron of the Air Cadets, wore a brooch she was given by the force, also presented annually to the best performing female cadet.
The first event of the day, which all the royals also attended, was a service of remembrance at Westminster Abbey which more than 2,000 veterans and relatives were invited to.
The royals watch the flypast from the balcony of Buckingham Palace
Image: The royals watch the flypast from the balcony of Buckingham Palace
Flyby passes over Central London commemorating 100 years of the RAF
Image: The flyby was commemorating 100 years of the RAF
One of the readings was performed by Theresa M
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