Tourists may have caught a glimpse of the future monarch in uniform riding his horse Wellesley in The Mall.
As Colonel of the Irish Guards, Prince William inspected the troops ahead of the parade on 17 June.
More than 6,000 spectators watched the inspection in Horse Guards Parade.
There were more than 200 military horses on parade and 400 musicians.
Trooping the Colour has commemorated the birthday of the sovereign for more than 250 years.
It also functions as a display of army drills, music and horsemanship.
The Duke of Cambridge became the Colonel of the Irish Guards in 2011.
The last time the battalion trooped the colour in front of the Queen was in 2009.

Rail minister Claire Perry called a meeting with the managers of Southern, Thameslink and Network Rail. All three have apologised for the problems.
The Department for Transport (DfT) said it was so officials, the rail watchdog and MPs could discuss improvements.
The private meeting was held at the House of Commons.
London Bridge station is being rebuilt as part of the Â£6.5bn Thameslink programme.
But commuters across the South East have reported delays and overcrowding.
A spokeswoman for Southern said the rail operator was working with Network Rail to improve performance.
She said some changes had already been made to improve punctuality and had proved to be beneficial.
Last month, Network Rail apologised for delays.
Simon Blanchflower, Thameslink programme director, said Network Rail recognised the service around London Bridge had not been good enough and the company was doing everything it could to tackle the problems.
Thameslink also apologised and said timetable and station layout changes had been made to alleviate the problems.

Joseph Romano was one of 23 Americans tried and sentenced by Italian courts for kidnap over the CIA-led operation to abduct a cleric known as Abu Omar.
The Egyptian said he was flown to his home country and tortured there.
Mr Napolitano's office cited what it said were changes to US security policy undertaken by President Barack Obama.
It said Mr Obama had "immediately after his election, put an end to an approach to the challenges to national security... considered by Italy and the European Union not compatible with fundamental principles of rule of law".
It added that the Italian president "hoped to provide a solution to an affair considered by the United States to be without precedent because of the conviction of a US military officer of Nato for deeds committed on Italian soil".
The statement said the decision to pardon Col Romano was inspired by the same principle that Italy hoped to see used in the case of two Italian marines facing murder charges in India over the shooting of two fishermen.
Abu Omar was subject to the process known as extraordinary rendition, through which the CIA transferred terrorism suspects to countries that practised torture.
The policy was increasingly used in the wake of the 11 September, 2001 attacks in the US.
Italian courts convicted 22 CIA personnel over the Abu Omar case. All are believed to be living in the US and are unlikely to serve their sentences.
Col Romano was the only American convicted who was not a CIA employee.
At the time of the rendition, he was in charge of the northern Italian military air base at Aviano, where Abu Omar was flown before continuing to Egypt via Germany.
The Italian trials, which began in 2007, were the first to convict Americans over extraordinary rendition.
Last month, a court in Milan sentenced Italy's former intelligence chief Nicolo Pollari to 10 years in prison, and his former deputy, Marco Mancini, to nine years, over the Abu Omar case.
Both are expected to appeal.
The Duke of Cambridge has taken part in the military rehearsal for the Queen's Birthday Parade, also known as Trooping the Colour, for the first time.
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Talks have been held between rail bosses and politicians over disruption to Sussex train services as a result of the upgrade to London Bridge station.
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Italian President Giorgio Napolitano has pardoned a US Air Force colonel convicted in absentia over the rendition of an Egyptian imam in 2003.