Prince William and Kate Middleton pushed the princess in a baby carriage Queen Elizabeth II used for two of her own children.
With the christening of Princess Charlotte, the Cambridges made their first public outing as a family of four.
Several thousand well wishers greeted the royals, while Prince George delighted the crowds on foot.
Prince William and Kate Middleton announced ahead of Princess Charlotte’s christening that they had chosen five godparents for their second child.
The christening was held at the Church of St Mary Magdalene, and attended by guests including the Queen and Duke of Edinburgh.
Other attendees included Prince Charles and the Duchess of Cornwall, Kate Middleton’s parents Michael and Carole Middleton, and her two siblings, Pippa and James.
The baptism, conducted by Archbishop of Canterbury the Most Reverend Justin Welby, was held in private.
Princess Charlotte has two fewer godparents than her brother George, and none from within royal circles.
The five include Kate Middleton’s cousin Adam Middleton, Prince William’s cousin Lady Laura Fellowes and Thomas van Straubenzee, a friend of the duke’s.
The final two are Prince William’s friend James Meade – who read the lesson during the service – and Kate Middleton’s friend Sophie Carter.
Thomas van Straubenzee, whom William met at Ludgrove Prep School, and James Meade, a friend from Eton, were both ushers at the duke and duchess’s wedding and gave speeches at the reception.
Lady Laura Fellowes is the daughter of Baroness Jane Fellowes – a sister of Princess Diana.
Like her brother Prince George, Princess Charlotte was christened in a replica of the lace and satin christening gown made for Queen Victoria’s eldest daughter, Victoria, the princess royal, in 1841.
The original was worn by all royal babies until the christening of Prince Edward’s son James, Viscount Severn, in 2008.
Princess Charlotte was christened using the ornate silver gilt Lily Font which is usually on show as part of the crown jewels at the Tower of London.
Among those gathered to catch a glimpse of the princess was 80-year-old royal enthusiast Terry Hutt, who camped overnight to get a good spot.
Prince Harry was among those missing from the ceremony. He is currently spending three months in Africa.
St Mary Magdalene is the church used by Queen Elizabeth when she is resident on her private estate.
Following the service, Prince William and Kate Middleton hosted a tea at Sandringham House where guests were served slices of christening cake, which is a tier from their wedding cake.
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