The monarch passed away at her Balmoral estate in Scotland, the palace said.
In a short statement issued at 6.30pm, Buckingham Palace said: “ 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.”
In recent months, the Queen has been unable to attend events due to mobility issues, such as the State Opening of Parliament, but the royal family has showed up in support of the monarch.
As the Queen missed the State Opening of Parliament, her son, Prince Charles, read the Queen’s speech on her behalf, while her grandson, Prince William, attended the event for the first time.
In April, when the Queen missed the annual Easter Sunday service event, her grandchildren and great-grandchildren led the way at St George’s Chapel in Windsor.
When the Queen attended Prince Philip’s memorial in March, she was escorted to her seat by Prince Andrew.
The Queen spoke of her family’s support in 2002, following the recent deaths of her mother Queen Elizabeth The Queen Mother and her sister Princess Margaret. At the time, the Queen spoke of her children and said she and Philip: “both have a special place in our hearts for our children.
“I want to express my admiration for The Prince of Wales and for all he has achieved for this country. Our children, and all my family, have given me such love and unstinting help over the years, and especially in recent months.”
But just how many children, grandchildren, and great-grandchildren did the Queen have?
How many children did the Queen have?
Queen Elizabeth had four children with the late Prince Philip: Prince Charles (73), Princess Anne (71), Prince Andrew (62), and Prince Edward (58). She had her first child, Charles, when she was 22 years old.
Prince Charles, the Prince of Wales, was born in 1948, and Princess Anne, the Princess Royal, was born in 1950.
Prince Andrew, Duke of York, was born in 1960, while Prince Edward, Earl of Wessex, was born in 1964.
How many grandchildren did the Queen have?
The Queen had eight grandchildren: Peter Phillips (44), Zara Tindall (40), Prince William (39), Prince Harry (37), Princess Beatrice (33), Princess Eugenie (32), Lady Louise Windsor (18), and James, Viscount Severn (14).
Prince Charles was married to Princess Diana, and together they had Prince William, Duke of Cambridge, and Prince Harry, Duke of Sussex.
Princess Anne shares children Zara Tindall and Peter Phillips with her first husband, Mark Phillips, an Olympic gold medal-winning horseman.
Princess Beatrice and Princess Eugenie are the daughters of Prince Andrew and Sarah, Duchess of York.
Prince Edward shares his children, Louise and James, with his wife Sophie, Countess of Wessex.
How many great-grandchildren did the Queen have?
The Queen had 12 great-grandchildren.
Prince William has three children with Katherine, Duchess of Cambridge: Prince George (8), Princess Charlotte (7), and Prince Louis (4).
Prince Harry has two children with Meghan, Duchess of Sussex: Archie Harrison Mountbatten-Windsor (3), and Lilibet Diana Mountbatten-Windsor (11 months).
Zara Tindall shares three children with husband Mike Tindall: Mia (8), Lena (3), and Lucas (1).
Peter Phillips has two children with ex-wife Autumn Kelly: Savannah (11) and Isla (10).
Princess Beatrice has one child, Sienna Elizabeth Mapelli Mozzi (7 months), with her husband Edoardo Mapelli Mozzi.
Princess Eugenie has one child, August Philip Hawke Brooksbank (1), with her husband Jack Brooksbank.