Mountain rescue, dog search and cave rescue team members greeted the Queen and the Duke of Edinburgh when they visited Chatsworth House.
Spectators flocked to the country estate to see the Royal couple, who arrived there following a visit to Matlock and Lea Mills.
The pair, who were greeted by the Duke and Duchess of Devonshire, met with representatives of local food and drink producers and were presented with a hamper of local produce.
The Duke said: “It was a great honour for the Duchess and I and everyone at Chatsworth to welcome Her Majesty The Queen and His Royal Highness The Duke of Edinburgh to Derbyshire and Chatsworth.
“The Queen and the Duke of Edinburgh were delighted with the warm Derbyshire welcome they received and very impressed by the number of local charities represented at the event.
“It has been a very memorable day and we are delighted to have been able to share it with our visitors.”
Earlier, the Queen was presented a selection of knitwear for great-grandson Prince George when she visited the base of John Smedley in Lea Mills.