Princess Beatrice blossoms on Easter Day out with The Queen

The 23-year-old Princess, looking stunning in a knee-length coat of royal purple and matching hat with veil, was clearly enjoying her day out with her grandparents.

Thousands of well-wishers cheered loudly as the royal party arrived at York Minster, while people living in adjoining properties toasted them with champagne as they watched from upstairs windows.

It was 40 years since the monarch had last visited the city to carry out the 12th century tradition of handing out alms to the poor.

Dressed in an aquamarine and grey tweed overcoat and aquamarine hat, the Queen had to touch a ceremonial sword and mace as she asked permission to enter the 12th century gateway to the walled city.

To celebrate her 60 years on the throne the Queen handed out money to pensioners from all the UK’s 44 dioceses.

Usually, the Maundy money is given to pensioners from one diocese each year. But in a break with tradition for her Diamond Jubilee, 86 women and 86 men – one for each of the Queen’s 86 years – received the money in recognition of their services to the Church and their community.

The Royal Maundy ceremony traces its origins to the Last Supper when Jesus washed the feet of his disciples.

Each recipient received two purses, one red and one white.

The red purse contained a £5 coin commemorating the Jubilee and a newly minted 50p coin. The white purse contained Maundy Money of silver one, two, three and four pence pieces.

Later the Queen presented the city’s Lord Mayor with a new “cap of maintenance”. The significance of the hat dates back to 1393, when King Richard II presented the first one and stipulated that it should not be taken off in front of God or King.

The royal party then visited the Yorkshire Museum where Prince Philip was particularly amused by a bare-bottomed mannequin which formed part of an exhibition by fashion students.