In a statement posted on Twitter, the Palace said: “It is with deep sorrow that Her Majesty The Queen has announced the death of her beloved husband, His Royal Highness The Prince Philip, Duke of Edinburgh. His Royal Highness passed away peacefully this morning at Windsor Castle.”

In a second tweet, the palace said: “The Royal Family join with people around the world in mourning his loss. Further announcements will be made in due course. Visit http://royal.uk to read the announcement in full.”