The children of Prince Edward and Sophie Wessex live 11 miles away from Windsor Castle at Bagshot Park – and regularly visit Her Majesty, who they see as “just their grandmother”.

For Christmas, the Queen gifted great-grandson Archie, two, a waffle maker – delivered to the home he shares in Montecito, California with parents Prince Harry and Meghan Markle.

Kate described the Queen’s delight at sharing gifts with the young royals.

Speaking on ITV documentary ‘Our Queen at 90’, the Duchess of Cambridge revealed: “She always leaves a little gift or something in their room when we go and stay, and that just shows her love for her family.”

Of Princess Charlotte’s birth, Kate tells: “The Queen was really thrilled that it was a little girl.

“I think as soon as we came back here to Kensington she was one of our first visitors here.

“I think she’s very fond of Charlotte. She’s always watching what she’s up to.”

She also has a close bond with Mike and Zara Tindall’s family. They are parents to Mia, seven, Lena, three, and Lucas, who is five months old.

In February, Princess Eugenie and husband Jack Brooksbank welcomed their first child, August, into the world.

Her oldest great-grandchild is Savannah Phillips, 10, daughter of her oldest grandchild, Peter Phillips, 43. Savannah is sister to Isla, nine.

Her Majesty will no doubt be excited at another imminent arrival.

Princess Beatrice and husband Edoardo Mapelli Mozzi, who wed in 2020, are expecting their first child together in autumn.

In a statement, Buckingham Palace said: “Her Royal Highness Princess Beatrice and Mr Edoardo Mapelli Mozzi are very pleased to announce that they are expecting a baby in autumn of this year.

“The Queen has been informed and both families are delighted with the news.”