The Queen today met her great grandchild Princess Charlotte at Kensington Palace after travelling to London from her Norfolk estate.

Eastern Daily Press: Queen Elizabeth II sits in the back seat of a Range Rover as she leaves Kensington Palace, after meeting her great granddaughter Princess Charlotte of Cambridge. Photo: John Stillwell/PA WireQueen Elizabeth II sits in the back seat of a Range Rover as she leaves Kensington Palace, after meeting her great granddaughter Princess Charlotte of Cambridge. Photo: John Stillwell/PA Wire

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

The princess' name was announced by her parents yesterday 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 at 8.34am, weighing 8lbs 3oz.

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

The Queen is believed to have arrived in London from her private Sandringham Estate in Norfolk.

Her visit to see her great grandchild came soon after William and Kate had formally registered the birth of their daughter.

Kensington Palace said in a brief statement: 'The Duke and Duchess of Cambridge have formally registered the birth of Princess Charlotte.

'The Duke of Cambridge signed the birth register at Kensington Palace this afternoon witnessed by a registrar from Westminster Register Office.'

The document gives the date and place of Charlotte's birth and her full name as Her Royal Highness Princess Charlotte Elizabeth Diana of Cambridge.

On the document the Cambridges gave their occupations as Prince and Princess of the United Kingdom - just as they did when registering the birth of their son Prince George in 2013.