“Tonight, teams from 72 countries join in Birmingham to celebrate friendship across borders,” she said in her address as the event kicked off at the Alexander Stadium.

British musicians Duran Duran and Black Sabbath guitarist Tony Iommi guest-starred on a night which celebrated Birmingham’s industrial heritage and its multicultural tradition, as competitors from the Commonwealth’s 72 nations and territories were cheered into the arena by a 30,000 crowd.

More than 5,000 athletes will compete in 280 events across 19 sports in the next 10 days, with a para-sport programme integrated into the games. It would also be the first major multi-sport game to award more medals to women than men – 136 and 134.

Pakistani women’s cricket team skipper Bismah Maroof and wrestler Inam Butt led the contingent of 132 athletes for the opening ceremony.

The 25-year-old, who now lives in Birmingham, said participating athletes represent millions of girls and boys and the shared hope for a future, “where every child can go to school, where women can fully participate in society and where families can live in peace and dignity.”

She spoke about her journey in the city and how the people helped her family. “It is my honour to say welcome to Birmingham.”

In 2012, Malala survived being shot in the head by a Taliban gunman after she was targeted for her campaign against the Taliban’s efforts to deny women education. She subsequently became the youngest recipient of the Nobel Peace Prize for her education advocacy.

Yousafzai, who has become a global symbol of the resilience of women in the face of repression, wore a blue shalwar kameez on the occasion.