The Queen has died aged 96 at the royal estate in Balmoral, having served more than 70 years as monarch, Buckingham Palace confirmed.
This is the statement from Buckingham Palace in full following the death of the Queen.
The official statement from the Palace reads: "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."
Just hours earlier the Queen's children Prince Charles, Prince Edward, Prince Andrew and Princess Anne arrived at her Scottish home amid fears for the Queen's health.
Princes William and Harry were also in attendance in the Queen's final hours.
An earlier statement read: "Following further evaluation this morning, the Queen's doctors are concerned for Her Majesty's health and have recommended she remain under medical supervision.
"The Queen remains comfortable and at Balmoral."
Well-wishers from around the world had been expressing concern after the announcement on Thursday morning.
Many royal fans also began to gather outside the gates of Balmoral and other royal homes amid concern for the Queen.
The nation's longest-reigning monarch has ongoing mobility issues and looked bright but frail and used a walking stick during Tuesday's historic audience with Ms Truss, which followed a visit from outgoing prime minister Boris Johnson as he tendered his resignation.
Prince William was earlier seen driving his uncles Prince Andrew and Prince Edward into Balmoral amid fears for Queen's health.
Prince Edward's wife Sophie was also in the car, as the foursome arrived from Aberdeen Airport around an hour ago.
The senior royals joined Prince Charles and Princess Anne who were already with their mother.
The family dropped everything to rush to the royal estate after Buckingham Palace released a concerning statement this morning.
Prince William's wife Kate is believed to have stayed in Windsor as it is her three children's first full day of their new school term.
Prince Andrew's ex-wife Sarah Ferguson, who is also mother to two of the Queen's granddaughters, Princess Eugenie and Beatrice, was seen at an airport in Venice this afternoon.
Tributes have already started pouring from around the world for Her Majesty.
Just moments before the Queen's death was announced a rainbow appeared over Buckingham Palace this afternoon.
You can leave your tributes to Queen Elizabeth II here
