The Queen is dead. A lifetime of duty and service.

The Queen has died aged 96, Buckingham Palace has announced.

"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," Buckingham Palace said.

Queen Elizabeth II was the longest-reigning monarch in British history and the world's oldest head of state.

On her death, the Queen's eldest son and heir, Charles, the former Prince of Wales, has become King of the United Kingdom and 14 Commonwealth realms.

No official details have been released about what will happen over the coming days, but it is anticipated that the Queen will be given a full state funeral, as is traditional to mark the death of a monarch.

It is also expected that her body will lie in state to allow the public to pay tribute.