Signaling the importance of Brexit negotiations with the European Union, set to continue until the spring of 2019, the speech set out the government's program for two years, rather than one.
Parliament then votes on the agendas laid out in the speech.
May's authority is badly damaged as Britain begins negotiations on leaving the European Union.
A Number 10 spokesman said: "An invitation has been extended and accepted".
"Labour is not merely an opposition".
Liberal Democrat leader Tim Farron said: "This slimmed-down Queen's Speech shows a Government on the edge".
Mr Carmichael said: "This is a historic chance to defeat the Government and force Theresa May to rethink her approach to Brexit".
May apologized for the government's inadequate response to that fire and acknowledged the country faced "difficult times".
The prime minister's office said nothing had changed.
Daniel Berger wins FedEx St Jude Classic for second straight year
Charl Schwartzel and Whee Kim tied for second at 9 under. "I definitely like playing the week before majors", Fowler said. Jutanugarn finished with a 3-under 69 in the final round and was tied with Thompson (72) and Chun (70) at 17-under 271.
The enfeebled premier, who is still locked in hard talks with a Northern Irish party to prop up her administration, said her programme was about seizing opportunities offered by Brexit.
Of 27 Bills and draft bills unveiled in Mrs May's first Queen's Speech, eight are devoted to the complex process of leaving the EU, including a Repeal Bill to overturn the 1972 Act which took Britain into the European Economic Community, and separate Bills on customs, trade, immigration, fisheries, agriculture, nuclear safeguards and the worldwide sanctions regime. Of 24 bills, eight relate to Brexit and its implications for key industries.
The Queen delivered the speech in a toned-down ceremony that dispensed with a horse-drawn procession to parliament, and she swapped her crown for a blue hat.
The Queen's speech usually mentions any state visits planned for the duration of the parliament, but Wednesday, she said she and Prince Philip "look forward to welcoming their majesties King Felipe and Queen Letizia of Spain on a state visit in July".
There was no mention too of May's controversial promise to allow a parliamentary vote to repeal a ban on fox hunting, which angered left-wingers.
The remarks are written by the prime minister and her staff.
When Elizabeth II rolled up to the Palace of Westminster on Wednesday, she did so without numerous trappings that typically attend the Queen's Speech.
Following her failure to reach agreement with the Democratic Unionist Party on a deal to shore up her minority administration, Mrs May is the first PM in decades to be faced by doubts over whether she can get her legislative programme through parliament.
"We are doing what is in the national interest, which is forming a government to address the challenges that face this country at the moment", May said.
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