The Queen said she has been "humbled and deeply touched" by the way the public have commemorated her Platinum Jubilee.
In a written message signed Elizabeth R, Her Majesty said that while she may not have attended every event in person, her "heart has been with you all".
She added that she has been inspired by "the kindness, joy and kinship that has been so evident in recent days" and pledged to continue to serve as monarch "to the best of my ability supported by my family".
Read more: The Queen's surprise Platinum Pageant balcony appearance leaves TV viewers emotional
The monarch, 96, was unable to attend every event planned to mark her 70-year reign. She observed Trooping the Colour from the balcony of Buckingham Palace on Thursday, as well as a special flyover which was observed alongside working members of the royal family.
However, she was absent from a thanksgiving service to mark her milestone anniversary on Friday, as well as her scheduled appearance at the Epsom Derby on Saturday. On Sunday, to mark the end of the four-day celebrations, the Queen returned to the Buckingham Palace balcony during the televised Platinum Pageant.
More than 8,000 performers featured at the Pageant, and TV viewers were overcome with emotion by the Queen's surprise appearance. On Sunday evening, the monarch also thanked the public in a written statement, which was shared online via via The Royal Family Twitter page.
In her written message the Queen said: "When it comes to how to mark 70 years as your Queen, there is no guidebook to follow. It really is a first.
"But I have been humbled and deeply touched that so many people have taken to the streets to celebrate my Platinum Jubilee.
"While I may not have attended every event in person, my heart has been with you all; and I remain committed to serving you to the best of my ability, supported by my family.
"I have been inspired by the kindness, joy and kinship that has been so evident in recent days, and I hope this renewed sense of togetherness will be felt for many years to come.
"I thank you most sincerely for your good wishes and for the part you have all played in these happy celebrations."
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