The Christmas messages: The Queen - Go into world in peace and be of good courage.
She told a worldwide audience on TV, radio and - for the first time - over the internet: "For me, the teachings of Christ and my own accountability before God provide a framework in which I try to lead my life."
Her television address came after a two-minute film montage illustrating the highlights of Queen's millennium year.
Starting with last year's celebrations with Tony Blair at the Dome, it also featured Prince William, her meeting with the Pope and the visit to Australia.
The Queen said: "Many will have been inspired by Jesus' powerful teaching: love God and love thy neighbour as thyself - in other words, treat others as you would like them to treat you."
She also spoke of the spirituality in the teachings of religions other than Christianity. The Queen said: "Most of us have a sense of the spiritual, the recognition of a deeper meaning and purpose in our lives."
Reading from the 1928 Prayer Book, she concluded: "I believe the Christian message, in the words of a familiar blessing, remains important: `Go forth into the world in peace, be of good courage, hold fast that which is good, render to no man evil for evil, strengthen the fainthearted, support the weak, help the afflicted, honour all men'.
"It's a message of compassion and yet as powerful as ever today, 2000 years after Christ's birth."
COMPASSION: The Queen spoke of her Christian beliefs on TV