Camilla was greeted by hundreds of cheering onlookers on the promenade opposite Blackpool Tower.
Her first official visit to the seaside resort began with Falklands War veteran Anthony Barlow, 62, abseiling 158m down the tower.
Mr Barlow, who is now a firefighter, was presented with a Veterans' Badge.
Speaking afterwards, he said: "It was very windy but I only lost control once.
"It was good to see all the people here to recognise the veterans.
"Camilla was a lovely woman.
"She asked me if I suffered from vertigo, and said I looked far too young to be a veteran."
This was followed by a march past by 12 Regiment, Royal Artillery, led by the Band of the King's Division, who exercised their freedom of the borough.
Camilla, wearing a sand-coloured silk shift dress and a feathered hat, then boarded a classic Blackpool tram to the Cenotaph to attend a special service.
The third National Veterans' Day celebrates the contribution made by all those who have served in the Armed Forces and raises awareness of veterans' issues.
Veterans Minister Derek Twigg and the Chief of the General Staff, General Sir Richard Dannatt, also attended. Tweet
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IS THAT A STICK OF ROCK SHE'S HOLDING?
Aunty Glo read the caption under the picture,I wonder if it has Balackpool written all the way through it?
Just so everyone knows - Anthony is my husband, and he is 45 years old - born in 1962 - the reporters have all got it wrong