It was a ceremony that managed to meld centuries of British tradition with a distinctly contemporary American feel, and you can relive the entire historic event by watching the video above.
Royal wedding live updates as it happened:
The kiss and a carriage ride
The newlyweds emerged onto the steps of St. George's Chapel and had a quick kiss -- prompting a wave of applause from the gathered crowd.
The Ascot Landau state carriage, built in 1880, drawn by four white horses, pulled up to take them on a 25 minute ride around Windsor in the glorious spring sunshine. Members of the royal family and Doria Ragland, mother of the bride, waved them off from the top of the steps.
The first part of the procession took them away from St. George's and through a Windsor Castle gate, out into the surrounding grounds and into the streets of Windsor.
The procession was heading for The Long Walk, a 2.6 mile avenue lined, just like the streets of Windsor, with royal well-wishers. An estimated 100,000 people packed into the town to witness the event.
The procession was led by members of the Household Cavalry, made up of two of the most senior regiments in the British army.
At a junction in the road, screaming fans waited to see the carriage procession pass by and turn onto The Long Walk.
"Oh my God, oh my God, oh my God," people shouted as the procession came into view. It was a sea of arms outstretched to capture photos and video on cell phones. Children sat on their parents' shoulders to get a better view.
After rolling up The Long Walk the carriage reentered Windsor Castle grounds via King George IV gate, clear again of the chaos an din of the crowd outside. The couple disappeared inside the castle walls and will not be seen again by the public on until Saturday afternoon (eastern time) when they leave Windsor Castle for an evening reception at Frogmore House, a few miles away.
No cameras are allowed inside any of the wedding receptions, so the festivities will be shared by invitees only.
Archbishop of Canterbury Justin Welby presided over the ceremony.
Collectively all of those gathered in St. George's Chapel vowed to support the new royal couple, before Welby gave a prayer.
Lady Jane Fellowes, the sister of Harry's late mother Princess Diana, then gave a reading of "The Song of Solomon."
Presiding Bishop of the American Episcopalian Church Michael Curry then delivered an address, quoting Martin Luther King Jr., on "the power of love."
"Don't under estimate it," he told those gathered in the chapel.
After his reading, Karen Gibson and the Kingdom Choir gave a rendition of the pop classic "Stand by Me."
Welby then had Prince Harry and Meghan Markle exchange their marriage vows, followed by the exchange of rings.
"I therefore proclaim that they are husband and wife," came Welby's declaration following the exchange of rings.
The couple then disappeared behind closed doors while their parents and others signed an official wedding register.
When they emerged again, following a cello performance by 19-year-old Briton, Sheku Kanneh-Mason, the entire chapel belted out God Save the Queen, as her majesty looked on with her trademark stoicism.
Royal arrivals, and Meghan's wedding dress
Meghan Markle's mother Doria Ragland was the first front-row guest to arrive at St. George's Chapel for her daughter's wedding, followed quickly by a car carrying Prince Harry's father Prince Charles and wife Camilla Parker Bowles.
Queen Elizabeth II then pulled up in a Rolls Royce with husband Prince Philip. The monarch quickly took her place inside the chapel.
Meghan Markle was on her way in a convoy of limousines, driving down The Long Walk, with a number of young pageboys and bridesmaids. Before she pulled up, Prince William's wife, the Duchess of Cambridge, arrived with others.
Markle stepped out to reveal a dress designed by the acclaimed British designer, Clare Waight Keller, for French fashion house Givenchy.
Beard wins the day
Prince Harry showed up for his wedding to Meghan Markle, stepping out of a black van in front of St. George's Chapel at Windsor Castle -- WITH his trademark (of late) beard intact.
His decision to keep the royal whiskers while wearing his military uniform breaks with British military tradition -- and loses "CBS This Morning" co-host Norah O'Donnell a $500 bet with Gayle King. The proceeds are to go to charity.
Bride is on her way
A vintage limousine pulled away from the Cliveden House hotel in London carrying Meghan Markle and her mother Doria Ragland to Windsor Castle for the American actress' wedding to Prince Harry.
Other members of the royal family were seen walking into St. George's Chapel moments earlier, including Princesses Beatrice and Eugenie, Harry's cousins, and Princess Royal Anne, Queen Elizabeth's daughter.
An American bishop's touch
Prince Harry and Meghan Markle's wedding will be a ceremony that both abides by and breaks tradition. It will be officiated by Rev. David Conner, the dean of Windsor, and the Archbishop of Canterbury Justin Welby, along with American Episcopalian Bishop Michael Curry -- whose style is unlikely to have been seen before at a royal wedding.
Curry is the first African-American to serve as presiding bishop of the Episcopal Church. CBS News' Mark Phillips spoke to Welby and Curry about the big day, and asked Curry what it means to him to be at "mama's house."
First stars arrive
Leading the charge of "commoners" arriving to witness the royal wedding on Saturday morning was British actor Idris Elba, followed by U.S. media mogul Oprah Winfrey.
"CBS This Morning" co-host Gayle King watched as her friend Oprah walked to the chapel after getting off the first bus carrying wedding guests. She noted that it may have been Oprah's first bus ride in some time, and revealed that she was wearing a dress designed by Stella McCartney.
Earl Spencer, the late Princess Diana's brother, also arrived in the first wave of guests.
Later buses brought some of the less-known members of the British royal family -- and one of the best-known names from the world of Hollywood royalty; George and Amal Clooney arrived and waved to fans as they approached the chapel.
David and Victoria Beckham were close behind them. David Beckham, one of Britain's best named soccer stars, and his wife, a former member of the Spice Girls, have long been friends with Prince Harry.
Warm wishes from the PM
British Prime Minister Theresa May sent a tweet offering her best wishes to Prince Harry and Meghan Markle on Saturday morning ahead of the royal wedding.
The royal couple decided not to make a political affair of their nuptials -- even May, the leader of the British government, was not in attendance. No political heads of state got an official wedding invite.
Former U.S. President Barack Obama and his wife Michelle, who got to know Prince Harry during Obama's two terms in office, confirmed on Thursday that they were not heading to Windsor for the festivities, but that they looked forward to meeting the newlyweds sometime after.
CBS News wedding coverage goes live
CBS News' live coverage of the royal wedding has begun, with "CBS This Morning" co-host Gayle King and "Entertainment Tonight" co-host Kevin Frazier anchoring outside Windsor Castle.
We have correspondents around Windsor to bring you the latest on every angle, from security on the streets where an estimated 100,000 people have gathered, to the event itself inside St. George's Chapel at Windsor Castle.
As the royal family itself notes, it is an historic day, and Prince Harry and Meghan Markle will be the 16th royal couple to tie the knot at the historic chapel since 1863.
CBS News correspondent Mark Phillips spoke to some of the people who have staked out positions on the sidewalk near Windsor Castle, eager to catch a glimpse of the royal couple as they roll out of the castle grounds for a carriage ride around the town immediately after the ceremony.
As one woman told Phillips, it was a cold and uncomfortable night, but worth it to witness history.
The Duke and Duchess of Sussex
Queen Elizabeth II bestowed new royal titles early Saturday on her grandson Prince Harry and his bride-soon-to-be Meghan Markle. The couple will henceforth be known as the Duke and Duchess of Sussex.
"The Queen has today been pleased to confer a Dukedom on Prince Henry of Wales. His titles will be Duke of Sussex, Earl of Dumbarton and Baron Kilkeel. Prince Harry thus becomes His Royal Highness The Duke of Sussex, and Ms. Meghan Markle on marriage will become Her Royal Highness The Duchess of Sussex," the queen said in an official statement released by the palace.
Markle will become the first ever Duchess of Sussex. The title of Duke of Sussex was vacant, and had been regarded as the most likely choice for Prince Harry.
The only previous Duke of Sussex (Duke of Sussex, Prince Augustus Frederick, the sixth son of King George III and Queen Charlotte) was married twice but neither of his marriages was approved by his father, George III, meaning they were considered unlawful -- thus no previous Duchess. Prince Frederick died in 1843.
How the royal wedding will unfold
All times Eastern:
4:30 a.m. Wedding guests arrive at the Round Tower of Windsor Castle by the busload and will enter St. George's Chapel. All non-royal guests are scheduled to arrive by 6:00 a.m.
6:20 a.m. Royal family members begin to arrive via the Galilee Porch of St. George's Chapel.
6:45 a.m. Prince Harry and Prince William arrive, possibly on foot, walking past and possibly greeting the invited public.
6:55 a.m. Queen Elizabeth II arrives for her grandson's wedding, expected to be accompanied by husband Prince Philip.
6:56 a.m. Meghan Markle's car is expected to arrive at Windsor Castle via The Long Walk. Markle will be accompanied by her mother, Doria Ragland, and bridesmaids and pageboys.
7 a.m. Marriage service begins. The Archbishop of Canterbury Justin Welby officiates thee marriage ceremony. The Dean of Windsor will conduct the service. The late Prince Diana's sister, Lady Jane Fellowes, gives reading.
8 a.m. Marriage service concludes. Royal couple leave St. George's Chapel via the West Steps, when we will likely see a first kiss.
8:05 a.m. Procession begins as Prince Harry and Meghan are waved off by both families for a 25-minute carriage procession through Windsor.
8:25 a.m. Newlyweds return to Windsor Castle via King George IV gate, followed by guests who will attend the wedding reception at St. George's Hall at Windsor Castle.
BBC: Weather "couldn't be better"
BBC Weather says the weather "couldn't be better for a royal wedding." Although the day started chilly, the temperatures are expected to climb to 20 to 21 degrees Celsius (about 68 degrees Fahrenheit). The sun is expected to be out all day.
Arrivals have begun on the Long Walk
Spectators have already begun to arrive along Windsor's "long walk," CBS News' Charlie D'Agata tweeted.
After leaving the ceremony at St. George's Chapel, the couple will the newlyweds will travel along the town's main street, then down the so-called "long walk," before arriving back at Windsor Castle, giving thousands of spectators a chance to see the couple along the way.
"They want to be able to give the public a chance to share their celebrations with them, be part of the day," royal correspondent Roya Nikkhah told CBS News on Friday. "That was was very, very important to Harry and Meghan when they first got engaged, how would they do that."
It's a royal procession similar to the wedding of Queen Elizabeth's youngest son, Prince Edward and Sophie, Countess of Wessex, in 1999.
Suits cast has "last supper"
Markle's "Suits" co-star (and on-screen husband) Patrick Adams posted an Instagram photo of some of his castmates at a London restaurant with the caption "Last Supper."
Adams also tweeted he was thinking about the "strange surreal and wonderful day my friend Meghan is going to have tomorrow."
Kensington Palace posts Official Order of Service
Kensington Palace posted the Official Order of Service for Saturday. The Order of Service includes full details about the processions, music, hymns, prayers and readings, Kensington Palace said.
The service is from Common Worship. Kensington Palace noted that Harry and Markle have "taken a great deal of care in selecting all elements for their service" and they led a "collaborative effort."
But there is a sign of this week's chaos: The program says the bride will join her father, Thomas Markle, to the high altar. Kensington Palace announced Friday that Prince Charles will accompany Markle at least partway down the aisle after Markle confirmed her father would not walk her down the aisle, saying in a statement that she hoped he would, "be given the space he needs to focus on his health."
Thomas Markle was embroiled in controversy over tabloid photographs, which he told TMZ he staged.