The Labour leader and prime minister did not speak as they made their way from the Commons chamber to the House of Lords.
Following speaker Sir Lindsay Hoyle out of the chamber on Thursday, Mr Johnson appeared to try and make eye contact with Mr Corbyn three times.
The Labour leader, however, looked straight ahead and also seemed to ignore a comment made by the prime minister.
As a direct contrast behind them, shadow foreign secretary Emily Thornberry - a candidate to replace Mr Corbyn - and SNP Westminster leader Ian Blackford playfully wrestled with each other.
Walking through the lobby, Mr Johnson then had a wide smile on his face as he continued to walk alongside a stern-looking Mr Corbyn.
The Queen’s Speech saw Her Majesty formally open Parliament outlining Mr Johnson’s legislative agenda.
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