However, the Queen did mention the couple’s daughter when she paid tribute to her four new great-grandchildren, Lilibet, August, Sienna and Lucas, born this year.
In her speech, the 95-year-old monarch praised the work of her son Charles and grandson William for their environmental work, noting that they were “admirably supported by Camilla and Catherine”.
She said: “We see our own children and their families embrace the roles, traditions and values that mean so much to us, as these are passed from one generation to the next, sometimes being updated for changing times.
“I see it in my own family and it is a source of great happiness.
“Prince Philip was always mindful of this sense of passing the baton.
“That’s why he created The Duke of Edinburgh’s Award, which offers young people throughout the Commonwealth and beyond the chance of exploration and adventure.
“It remains an astonishing success, grounded in his faith in the future.
“He was also an early champion of taking seriously our stewardship of the environment, and I am proud beyond words that his pioneering work has been taken on and magnified by our eldest son Charles and his eldest son William – admirably supported by Camilla and Catherine – most recently at the COP climate change summit in Glasgow.”
Reports of a rift have been growing since the Duke and Duchess of Sussex’s interview with Oprah Winfrey last year, in which Prince Harry said there was “space” between himself and his older brother.
On a trip to South Africa the previous October, Prince Harry said he and Prince William were on “different paths at the moment”.
The Queen paid a moving tribute to her late husband, Prince Philip, saying: “Although it’s a time of great happiness and good cheer for many, Christmas can be hard for those who have lost loved ones.
“This year, especially, I understand why.
“But for me, in the months since the death of my beloved Philip, I have drawn great comfort from the warmth and affection of the many tributes to his life and work – from around the country, the Commonwealth and the world.
“His sense of service, intellectual curiosity and capacity to squeeze fun out of any situation – were all irrepressible.
“That mischievous, enquiring twinkle was as bright at the end as when I first set eyes on him.
“But life, of course, consists of final partings as well as first meetings – and as much as I and my family miss him, I know he would want us to enjoy Christmas.
“We felt his presence as we, like millions around the world, readied ourselves for Christmas.”