"I was fortunate to share the last 24 hours of my dearest mother's life," the Princess Royal said.

Her tribute to her monarch and her mother was shared on The Royal Family's Facebook page.

"It has been an honour and a privilege to accompany her on her final journeys," Princess Anne said in her tribute.

"Witnessing the love and respect shown by so many on these journeys has been both humbling and uplifting.

"We will all share unique memories. I offer my thanks to each and every one who share our sense of loss."

Princess Anne honoured her mother's long reign and contribution to the United Kingdom and Commonwealth.

"We may have been reminded how much of her presence and contribution to our national identity we took for granted," she said.

"I am also so grateful for the support and understanding offered to my dear brother Charles as he accepts the added responsibilities of the monarch.

"To my mother, The Queen, thank you."

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Along with her brothers King Charles III and princes Edward and Andrew, they held a silent vigil beside their mother's coffin in St Giles' Cathedral in Edinburgh, Scotland.

During the vigil, the Queen's coffin was draped in the Royal Standard of Scotland (flag) and topped with a wreath of white flowers and the Crown of Scotland.