The King and Queen made a dramatic entrance, as they strode out of the Tardis at the beginning of the ceremony.
More than 3,000 athletes from 74 nations and territories will compete across 10 sports and six Para sports.
During the pre-show ahead of the opening ceremony in Glasgow, unicorn mascot Finnie entertained the crowd and Scottish wrestler Grado made an appearance in a teacake costume.
The show then began with a clip of Doctor Who’s famous telephone box going on a journey around Scotland.
The Tardis was piloted by cycling star Sir Chris Hoy and actor Greg McHugh.
The Seventh Doctor, Sylvester McCoy, was somewhat confused by their efforts.
It eventually reaches Balmoral Castle, after visiting several famous Scottish landmarks.
The Tardis then materialised inside the Hydro arena, appearing on an onstage garden.
1. Commonwealth Games opening ceremony
King Charles III and Queen Camilla walk on stage during the opening ceremony ahead of the Glasgow 2026 Commonwealth Games at The Hydro Photo: Francois Nel
2. Commonwealth Games opening ceremony
Dr Donald Rukare, President of Commonwealth Sport and of the Uganda Olympic Committee, King Charles III, Queen Camilla and Andy Burnham are seen in the Royal Box during the opening ceremony ahead of the Glasgow 2026 Commonwealth Games Photo: Francois Nel
3. Commonwealth Games opening ceremony
Flagbearer Bridget Herselman of Team South Africa and King's Baton Bearer Shane Williams Photo: Michael Steele
4. Commonwealth Games opening ceremony
Andy Burnham and partner Marie-France van Heel are seen in the Royal Box Photo: Francois Nel