The following year, grandson Harry and his wife Meghan quit royal life and moved to the United States, from where they criticised the family, including accusing some members of racism.
Elizabeth met the couple's daughter, Lilibet, only once. She was born in June 2021 and was named after her childhood nickname.
Eight times a grandmother, and with 12 great-grandchildren, the queen loved family dinners, and held annual Christmas get-togethers at her Sandringham estate.
Even as she slowed down after a health scare in October 2021, she attended the christening of two of her great-grandchildren at Windsor.
Grandson William, whom she had grown close to after Diana's death, paid a glowing tribute to her in a recent biography.
"The queen's kindness and sense of humour, her innate sense of calm and perspective, and her love of family and home are all attributes I experience first-hand," he wrote.
"I am privileged to have the queen as a model for a life of service to the public."
