Kate Middleton and Prince William
Kate Middleton and Prince William have welcomed the Queen to Kensington Palace to meet Charlotte Elizabeth DianaReuters

The Queen has visited great-granddaughter Princess Charlotte Elizabeth Diana of Cambridge at Kensington Palace.

The monarch visited the princess for the first time since she was born on 2 May at St Mary's Hospital in Paddington, London, weighing 8lbs 3oz (3.7kg).

Her visit came after Prince William registered his daughter at the palace under her official name, Her Royal Highness Princess Charlotte Elizabeth Diana of Cambridge.

On the certificate, William and Kate Middleton's occupations are "Prince of the United Kingdom" and "Princess of the United Kingdom" respectively.

Kensington Palace tweeted a photo of the certificate, the signing of which was witnessed by a registrar from Westminster Register Office.

The Prince of Wales and Duchess of Cornwall and the Duchess of Cambridge's parents, Michael and Carole Middleton, and sister Pippa, met the princess a few days ago.

The Duke and Duchess have been with their daughter at Kensington Palace since leaving the Lindo Wing of St Mary's Hospital.

It is thought they will remain there until moving to their country home, Anmer Hall, on the Queen's Sandringham estate, in Norfolk.