An audience of 8.96 million saw the festive address on BBC One, ITV and Sky News, according to overnight ratings.
The BBC's Strictly Come Dancing Christmas Special and Call the Midwife were the next two most popular shows.
In the battle of the soaps, ITV's Coronation Street came out on top.
In her first annual Christmas message since the death of Prince Philip, the Queen, 95, described him as her beloved.
