Queen, Prince Philip and Prince Charles leave Balmoral

Today marks the 20th anniversary of Princess Diana’s death, and Prince Charles chose to spend the significant day with the Queen and Prince Philip at Balmoral.

The royals appeared to be in a reflective mood as they left the estate in a convoy of Land Rovers earlier today, accompanied by their aides. 

Meanwhile, crowds gathered at Kensington Palace to mourn Diana’s death twenty years on, leaving masses of floral tributes at her former home.   

Prince Charles spent the 20th anniversary of Diana’s death today with the Queen and Prince Philip at Balmoral  

The Queen was seen leaving the Balmoral estate today

Prince Philip drove separately as he left the Scottish estate

The royals were seen leaving the Scottish estate in a convoy of Range Rovers, with the Queen, Philip and Charles all driving separately 

On Wednesday, Prince William and Harry paid tribute to their mother by visiting the White Garden memorial at Kensington Palace.

The pair also looked at the floral tributes and pictures left at the gates of her former home, as well as speaking to well-wishers gathered there.

Taking an impromptu walkabout, they waved and smiled before taking a few minutes to read the cards and banners.

Prince Harry smiled at the sight of a large balloon lying among the flowers, while William pointed out a childhood photograph of him and his mother in sunglasses. 

The Queen looked to be in a contemplative mood as she was joined by aides in her car

The Queen looked to be in a contemplative mood as she was joined by aides in her car

The Duke of Edinburgh also looked reflective as he drove out of the estate earlier today 

The Duke of Edinburgh also looked reflective as he drove out of the estate earlier today 

Charles spent the 20th anniversary of Diana's death away from sons Prince William and Harry 

Charles spent the 20th anniversary of Diana’s death away from sons Prince William and Harry 

Diana’s death at the age of 36 prompted the biggest outpouring of grief seen in Britain in recent times and is regarded as a key turning point in how the royal family relates to the public.

With traditional restraint giving way to expressions of emotion, Diana’s sons William and Harry have led the way by speaking openly about the trauma they suffered when they lost their mother, as part of a wider campaign of talking about mental health issues. 

The Queen had faced criticism in the days following Diana’s death in 1997 for her decision to stay at Balmoral.

Following an outpouring of public anger, the monarch asked her press secretary to appear on TV –  in an unprecedented break with protocol – to defend the royals and explain that they had stayed away to be with William and Harry.

She also agreed to make a statement on television, her first live broadcast in 50 years. 

It is traditional for the Queen to spend the summer holiday at her Balmoral estate 

It is traditional for the Queen to spend the summer holiday at her Balmoral estate 

 Their appearance comes after William and Harry visited the White Garden memorial at Kensington Palace on Wednesday

 Their appearance comes after William and Harry visited the White Garden memorial at Kensington Palace on Wednesday

The Queen had faced criticism in the days following Diana's death for staying at Balmoral 

The Queen had faced criticism in the days following Diana’s death for staying at Balmoral 

Hundreds of mourners gathered outside Kensington Palace today to leave a growing pile of flowers, cards and handwritten messages in memory of the Princess of Wales

Hundreds of mourners gathered outside Kensington Palace today to leave a growing pile of flowers, cards and handwritten messages in memory of the Princess of Wales

On Wednesday, the Duke of Cambridge and Prince Harry paid tribute to their mother, looking at the flowers and pictures left at the gates of her former home

On Wednesday, the Duke of Cambridge and Prince Harry paid tribute to their mother, looking at the flowers and pictures left at the gates of her former home

Read more at DailyMail.co.uk