The Queen has met her great grandchild Princess Charlotte at Kensington Palace.

The Duke and Duchess of Cambridge's baby daughter, who is just three days old, was introduced to her great grandmother on Tuesday afternoon.

The princess' name was announced by her parents on Monday and in tribute to the Queen one of their daughter's middle names is Elizabeth, while the other is Diana in recognition of William's mother.

Charlotte's grandparents have already visited the baby princess who was born on Saturday.

The Prince of Wales, Duchess of Cornwall and Michael and Carole Middleton spent time with their granddaughter at Kensington Palace.