Terrorists atrocities shook the world during 2015, from the mass shootings and bombings in Paris last month to the gun attack at a Tunisian resort during the summer.
But the Queen sounded an optimistic tone when she quoted a verse from the Bible.
She said: "It is true that the world has had to confront moments of darkness this year, but the Gospel of John contains a verse of great hope, often read at Christmas carol services: 'The light shines in the darkness, and the darkness has not overcome it'."
During the broadcast she also mentioned the birth of her fifth great grandchild Princess Charlotte, and joked about her upcoming 90th birthday.
Sitting at a desk in Buckingham Palace's 18th Century Room, she said: "Gathering round the tree gives us a chance to think about the year ahead - I am looking forward to a busy 2016, though I have been warned I may have Happy Birthday sung to me more than once or twice."
Wearing a white and silver tweed dress by Angela Kelly, she added: "One of the joys of living a long life is watching one's children, then grandchildren, then great grandchildren, help decorate the Christmas tree. And this year my family has a new member to join in the fun!"
The broadcast was a departure from previous Christmas messages because it was not interspersed with footage filmed at royal events.
Instead, a montage of royal engagements was shown at the start before the Queen spoke.
The first images of the broadcast were of Buckingham Palace, taken by a drone.
The footage was accompanied by a selection of members from three choirs.
Queen Victoria's husband, Prince Albert, is credited with popularising the Christmas tree in Britain after presenting large numbers to schools and Army barracks.
The Queen acknowledged this, showing a 19th century image of Victoria and Albert around a candle-lit tree and saying: "After this touching picture was published, many families wanted a Christmas tree of their own, and the custom soon spread.
"The custom of topping a tree also goes back to Prince Albert's time.
"For his family's tree, he chose an angel, helping to remind us that the focus of the Christmas story is on one particular family.
"For Joseph and Mary, the circumstances of Jesus's birth - in a stable - were far from ideal, but worse was to come as the family was forced to flee the country.
"It's no surprise that such a human story still captures our imagination and continues to inspire all of us who are Christians, the world over.
"Despite being displaced and persecuted throughout his short life, Christ's unchanging message was not one of revenge or violence but simply that we should love one another."
The Queen made her first Christmas broadcast in 1952, live on the radio from her study at Sandringham.
Her first televised message came five years later and she has only missed one year, 1969, when she decided the royals had featured enough on TV after a documentary.
Earlier she marked Christmas Day by attending a traditional church service at Sandringham.
Some well-wishers waited from 4am to catch a glimpse of the royals - with hundreds gathered by mid-morning.
The Queen arrived in a Bentley wearing a red dress coat, but Prince George and Princess Charlotte stayed at home.
The Duke and Duchess of Cambridge smiled as they arrived, with Kate making conversation with Prince Harry.
They were joined by the Prince of Wales and Duchess of Cornwall, Prince Andrew, The Earl and Countess of Wessex and Princesses Beatrice and Eugenie.
The service was held at St Mary Magdalene's church on the family's Norfolk estate.
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