Crowds gathered to show their support as members of the Irish Guards marched up Hounslow High Street to Holy Trinity Church, where a short ceremony took place.
The parade was led by about two dozen troops from the battalion, wearing their distinctive bearskin hats and red tunics.
They were joined by cadets, Chelsea Pensioners, Gurkhas and other veterans, including 94-year-old former Sergeant Major Rajinder Singh Dhatt, who fought in Burma during the Second World War and now lives in Hounslow.
'I could give you a job'
Lieutenant Colonel Alex Turner, Commanding Officer of the 1st Battalion Irish Guards, thanked members of the public for their "humbling" support.
He said he hoped the Armed Forces could be "exemplars" for people in all strands of society who are providing a service for their country or community.
"On my way here this morning I saw a young carer who was pushing a wheelchair with one hand, had a backpack strapped to her shoulders and was carrying a mountain bike in the other hand," he said.
"I thought 'I take my hat off to you. I could give you a job'."
Toilet break at McDonald's
Troops marched the short distance from outside McDonald's , where some soldiers surprised diners by popping in for a pre-parade toilet break, to Holy Trinity Church.
Several hundred people including local schoolchildren gathered outside the church to watch a special service, which culminated with the union jack being raised beside the war monument.
Addressing crowds outside the church, Hounslow mayor Ajmer Grewal said Hounslow should be "proud" of the Irish Guards and other service men and women.
'Armed forces need our support'
"But being proud isn't enough," she added. "We must remember they're continually facing challenges and need our support, not only when they're serving in the forces but when they leave the military.
"As mayor I will do all I possibly can to make sure they are recognised and receive the support they need in our borough."
Armed Forces Day fell on Saturday, June 25 this year, but was celebrated in Hounslow on the Monday as troops had commitments elsewhere.