The Queen died at Balmoral while some of her children and grandchildren were en route to see her.
The late monarch’s death certificate showed she died peacefully from old age, the same time as the Prince of Wales, Duke of York and the Earl and Countess of Wessex were on a flight.
Here is how the day unfolded.
– 12.32pm
Queen Elizabeth II watching the Royal Procession from the balcony at Buckingham Palace following the Trooping the Colour ceremony in June this year. Photo: PA/Wire
Buckingham Palace issued a statement saying doctors were concerned for the Queen’s health.
Buckingham Palace said in a statement: “The Queen died peacefully at Balmoral this afternoon.
“The King and The Queen Consort will remain at Balmoral this evening and will return to London tomorrow.”
– Just after 7pm
Charles, who became King after the death of his mother, said: “The death of my beloved mother, Her Majesty The Queen, is a moment of the greatest sadness for me and all members of my family.
“We mourn profoundly the passing of a cherished sovereign and a much-loved mother. I know her loss will be deeply felt throughout the country, the Realms and the Commonwealth, and by countless people around the world.
“During this period of mourning and change, my family and I will be comforted and sustained by our knowledge of the respect and deep affection in which the Queen was so widely held.”
– 7.08pm
Prime Minister Liz Truss said it was “the passing of the second Elizabethan age” and concluded an address by saying “God save the King”.
– 7.25pm
Clarence House confirmed that Charles will be known as King Charles III.