In his own tribute, Mr Cameron told the House of Commons: "Her Majesty The Queen has lived through some extraordinary times in our world.
"From the Second World War... to the rations with which she bought the material for her wedding dress.
"From the end of the Cold War to peace in Northern Ireland.
"Throughout it all, as the sands of culture shift and the tides of politics ebb and flow, Her Majesty has been steadfast - a rock of strength for our nation, for our Commonwealth and on many occasions for the whole world."
The other Leibovitz photographs show the monarch walking in the grounds of Windsor Castle with four of her dogs and sitting with her daughter, the Princess Royal.
Celebrations have begun around the country to mark the Queen's 90th birthday.
Crowds lined the streets in Windsor as the monarch took part in a walkabout, after royal gun salutes were fired from each of the UK's capital cities.
The Prince of Wales recorded a special radio broadcast for the day, in which he reads an edited passage from William Shakespeare's Henry VIII.
On Twitter, the Queen thanked senders of "#HappyBirthdayYourMajesty" tweets. In another tweet, the Queen said: "I send my best wishes to those who are celebrating their 90th birthday...on this shared occasion, I send my warm congratulations to you."
Most of the salutes were due to be 21 guns in length - the standard royal gun salute - at locations including Hillsborough Castle, Cardiff Castle, and Edinburgh Castle.
In London, the King's Troop Royal Horse Artillery staged a 41-gun salute at midday in Hyde Park. And the Honourable Artillery Company will fire a 62-gun salute across the Thames from the Tower of London at 13:00 BST. The Queen had been "a rock of strength for our nation" and the Commonwealth, Prime Minister David Cameron said, as he and fellow politicians paid tribute in the House of Commons.
Earlier, a photograph was released showing the monarch with young members of the Royal Family.
The image, one of three taken by celebrity photographer Annie Leibovitz, shows the Queen surrounded by her five great-grandchildren and her two youngest grandchildren.
The reading by Prince Charles, which has been broadcast by the BBC, is an extract from a speech by Archbishop Thomas Cranmer to King Henry VIII after the birth of the future Queen Elizabeth I.
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