The opening video with the fictional character had echoes of 2012 when the queen appeared with Britain’s most famous fictional spy, James Bond, in a video for the opening ceremony of the London Olympics.
A palace spokesman said: “The opportunity to invite a famous bear to tea was just too much fun to miss.”
However, Elizabeth was not present for Saturday’s festivities, which were among a number of Jubilee events she has missed due to “episodic mobility problems” that have caused her to cancel engagements recently.
Her great-grandchildren, Prince George and Princess Charlotte were delighted by the sketch.
Buckingham Palace issued a statement on the short film which reads: “Her Majesty is well known for her sense of humour, so it should be no surprise that she decided to take part in tonight’s sketch. There was an interest in the filming and animation process and the opportunity to invite a famous bear to tea was just too much fun to miss. While The Queen may not be attending the concert in person, she was very keen that people understood how much it meant to her and that all those watching had a great time.”