The Royal Automobile Club in London honoured the triple world champion at a lunch on Thursday, which also marked his first British Grand Prix win 50 years ago.
Sir Jackie, who received a knighthood in 2001, was pictured escorting the Queen to her car following the event.
Speaking to the Press Association on his birthday on Tuesday, Sir Jackie said: "It is a tremendous honour to have Her Majesty agree to be there for that celebration.
"It is enormously impressive for me."
He added that he never thinks about his age and was surprised to learn in the "last few weeks" that the milestone was approaching.
The Formula One star is one of motor racing's most decorated drivers with a remarkable 27 victories from 99 grands prix.