The First Minister was speaking ahead of the weekend of Diamond Jubilee celebrations.
Mr Salmond, wearing a Diamond Jubilee tartan tie revealed a series of gifts from the Scottish Parliament to The Queen, including a commemorative garden at Holyrood Palace and a donation to help ex-servicemen and women.
He said: "Over the six decades of the Queen's reign, Scotland has altered dramatically and for the better. But one constant has been The Queen's dedication, impartiality and service.
Mr Salmond added "Elizabeth, Queen of Scots" had "performed her duties flawlessly and the Scottish Parliament is grateful for her service over the last 13 years and the Scottish people are grateful for her service of 60 years."
Johann Lamont lauded her "poise and composure" and she said: "Her reign as Monarch has won the respect of the country for carrying out her public duties."
Ruth Davidson and Willie Rennie added their support with the Tory leader praising her role as an ambassador for the UK.
Ms Davidson said: "She has spread our ideals of democracy freedom and peace and opportunity for all."
Mr Rennie added: " She brings more to public life than people expect."
Green Leader Patrick Harvie, a Glasgow MSP, was the only dissenting voice who said he supported the admiration for public service but wanted to debate whether the Queen should be head of State should Scotland become independent in the future.
His amendment, in which he referred to the Queen as Elizabeth Windsor, was rejected by Presiding Officer Trisha Marwick, but he was allowed a brief speech following the other party leaders.
He said: "I fully endorse the comments about the admirable qualities and respect is fully due as it is to many other public servants some of whom are not provided with the same comfortable standard of living."
Outside the debate he said: "The other parties can doff their caps to royalty if they want. Greens are much more likely to break out bunting and cake for the low-paid public sector workers and local activists who bring our communities together."
