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.
5. Commonwealth Games opening ceremony
Athletes representing Singapore arrive during the opening ceremony Photo: OLI SCARFF
6. Commonwealth Games opening ceremony
Sir Chris Hoy waves during the opening ceremony Photo: Francois Nel
7. Commonwealth Games opening ceremony
Flagbearer Fayza Issaka Abdoukerim of Team Togo and King's Baton Bearer Kossi Medard Nayo Photo: Mattia Ozbot
8. Commonwealth Games opening ceremony
A general view as Team Australia take part in the athletes' parade during the opening ceremony Photo: Dean Mouhtaropoulos