Charles reached the position of commanding a naval vessel that took part in a lot of anti-drug operations. Andrew was flying helicopters during the Falklands war, and the more recent issue, Harry was out in the sandbox, and is due to be headed back soon. William is involved in a lot of search and rescue. So you class none of that as military service?
The Queen and the Duke of Edinburgh attended over 900 events last year. How many people of their age do you know who keep working with that sort of schedule? And that they'll pretty much be doing that till they die. Look at how busy the Queen Mother was right up until the end.
I know about the ones who have served in conflicts, mainly was thinking of Andrew and Harry, the latter was probably more in harm's way than the rest and even then I'm suspicious as to how much they were in (it's good PR to be seen doing it, after all). Perhaps I'm a bit cynical about that.
But the royalty does seem to get some respect, either that or significant portions of Canada are imbeciles right now - one example : Driving 12 hours to hope your daughter meets William =)