The service of “celebration and thanksgiving” at Glasgow Cathedral was one of several across Scotland which reflected on the work of the monarch.
In the gardens beneath Edinburgh Castle, live music and a carnival parade entertained the crowds.
They had been invited to bring a picnic to the jubilee party.
And they were able to watch a live broadcast of the Platinum Jubilee Pageant, live from London.
Perth also played host to a colourful parade, celebrating world music, dance and culture.
The service in Glasgow was the fourth jubilee celebration held for the Queen at the city’s cathedral during her 70-year reign, according to the order of service.
It says: “We have been privileged to receive Her Majesty on the occasions of her silver, golden and diamond Jubilee, and although we cannot welcome her in person on this equally momentous occasion, her Platinum Jubilee, we can feel confident she is with us in spirt.”
The order of service continues: “Jubilee is not an everyday occurrence but a special occasion which does not happen every year, or even every 10, and today we celebrate the extraordinary reign and devotion Her Majesty has had over us and to us.”
At the beginning of the service, the congregation – which included Health Secretary Humza Yousaf – joined three cheers for the monarch.
In his sermon, the Rev Dr Ian Greenshields, the Moderator of the General Assembly of the Church of Scotland, described the Queen’s life as “an example of humble, self-denying service to God and her country”.
“And it’s this that we offer thanksgiving for today and this life that we honour in this ancient place of worship,” he added.
In Edinburgh, West Princes Street Gardens hosted a jubilee picnic, and a special Edinburgh Festival Carnival parade.
The band of HM Royal Marines Scotland and the local Love Music Community Choir performed before the pageant near Buckingham Palace was shown on big screens.
Among those picnicking in the gardens was Johnny Bacigalupo and his family.
“We’re here to celebrate the Platinum Jubilee… it’s an excuse for a party, an excuse to enjoy yourself, and celebrate what makes us all feel British,” he said.
Vicky Appleyard said she was there with family from all over the world.
“I was not born here but I’m truly British, I’m proud British now, but I was born in Argentina and this is the best thing ever.
“We needed this – we definitely needed a party. We’ve been two years indoors. Look at us, we’re from everywhere. That’s what the Queen does – she brings us together.”
Edinburgh’s Lord Provost Robert Aldridge told BBC Scotland it was great to be having a party in the festival capital in the sunshine.
“It’s really important to celebrate a woman who has devoted 70 years of her life to faultless duty,” he added.
“She’s a fantastic role model for anyone involved in public life and we’re really proud to be able to host a party here today.”
It follows a series of events across the UK over the four-day holiday weekend, including the Platinum Party at the Palace on Saturday night.
Huge crowds watched the show outside Buckingham Palace, during which the Prince of Wales paid tribute to his “mummy”.
And they saw the Queen feature in a secretly pre-recorded comic sketch featuring Paddington Bear.
It follows a series of jubilee-themed events in Scotland on Saturday, including a re-enactment of the 1953 coronation by Brownies, Guides, Cubs and Scouts in Kelso.
There was a flotilla of about 20 boats which took part in A Parade of Sail in Edinburgh.
And at Balmoral in Aberdeenshire there was a gathering of 70 corgis – the Queen’s favourite dog – on the lawn outside the castle.
Meanwhile a group of republicans, including SNP MP Tommy Sheppard, took part in rally on Edinburgh’s Calton Hill.