Hundreds cheered and waved Union Flags as she and the Duke of Edinburgh arrived at Broadwater Green by helicopter.
It was the first time the Queen had made an official visit to the town, although she did go there as Princess Elizabeth before her coronation.
The royals spent the morning at Durrington High School, where they saw displays by the school and by community groups in the town.
More than 1,000 royal fans cheered the Queen as her helicopter touched down on Broadwater Green.
Despite the weather, the Queen left her raincoat behind and, wearing a turquoise dress coat and matching hat, she smiled and waved to well-wishers.
Within seconds of her appearance the crowds had erupted into a sea of colour as more than 500 children from Broadwater First and Middle School proudly waved tiny Union Jack flags.
Families and and elderly onlookers called out fond greetings to the Queen as they huddled under huge umbrellas.
Iris Wilcocks, 68, of Meadow Road, Worthing, said: "This is a proud day for Worthing. I've lived here all my life and I feel honoured by her special visit.
"And it's wonderful to see so many young people here enjoying the day."
Lindsay Collins, 28, of Boundary Road, Worthing, was more than happy to brave the cold weather and wait for more than two hours to witness the Queen's visit.
She said: "It's a dream come true for me. I've seen the Queen visiting other towns on the television and I'm delighted she is now finally here in Worthing.
"She looks every bit as I expected and I hope she has a wonderful time here in our lovely town."
Edward Howard, 45, of Wiston Avenue, Worthing, said: "I've never considered myself a big royal fan but when I heard the Queen was coming to Worthing I decided I just couldn't miss it.
"I'm glad I've seen her in real life. It will definitely be something to tell my grandchildren in years to come."
Susan Kelly, of Carnegie Road, Worthing, had been waiting since 9am with her son Thomas, five, and next-door neighbours Liam Betterson, four and Gemma, five.
She said: "Although it's been a long wait we wouldn't have missed it for the world. Gemma has always wanted to see the Queen but Laim and Thomas are more excited by the helicopter."
The Queen was escorted to a Jaguar which drove around the field as crowds waved and cheered, then continued to Durrington High School.
The Queen and Prince Philip were met by head teacher Mrs Steve Crowther, Trish Reynold, chairman of governors at the school, and a host of civic dignitaries.
She was presented with a posy by the two youngest children at Durrington High School, Carly Goodlad and Myron Ells, both 12.
The hand-tied spring posy of cream double tulips, dark mauve sweet peas, cream hyacinths, white veronica and dark widow iris, was commissioned from award-winning floristry student Gayle Smith, 20, who studies at Brinsbury College, near Pulborough.
The Queen was shown round the school by the head and by Maj-Gen Sir Philip Ward, Lord Lieutenant of West Sussex, who is to retire from the post on his 75th birthday in July.
. The hunt went on today for a 15-year-old girl pupil at the school who walked out at 9.30am yesterday after a row.
The girl, not yet named by police, failed to return home last night and her distraught mother alerted police.
Converted for the new archive on 30 June 2000. Some images and formatting may have been lost in the conversion.
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