More than 750,000 people lined the route of the parade while a further 300,000 were in and around William Brown Street where the procession came to an end.
The Queen sent a message which read: "Congratulations on your remarkable win last night. It was a magnificent achievement which will be remembered for many years both in Liverpool and across the country."
It will be a day to remember, particularly for all the young Liverpool fans for whom this is all new. May it be an annual event.