Queen Elizabeth II: How day unfolded as death of monarch was announced

Here is how the day unfolded.

-12:32pm

Buckingham Palace issued a statement saying doctors were concerned for the Queen's health.

They said the head of state was comfortable and royal physicians had recommended she stayed under medical supervision as the future king, the Prince of Wales, and second in line to the throne, the Duke of Cambridge, cleared their diaries to dash to the Queen's Aberdeenshire home.

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- 12.45pm

Clarence House said Charles and the Duchess of Cornwall had travelled to Balmoral.

A minute later Kensington Palace confirmed William would also be travelling north.

MORE: Sheffield Town Hall: Flag flying over Town Hall lowered to half-mast in honour of the Queen

- 2.39pm

Royal Air Force flight KRF23R took off from RAF Northolt in South Ruislip, west London, according to flight tracking website Flightradar24.com.

The plane carryied William, the Duke of York, and the Earl and Countess of Wessex.

- 3.50pm

The plane, a Dassault Falcon, landed at Aberdeen airport.

- Just after 5pm

A fleet of cars, including a Range Rover driven by William, with Andrew in the passenger seat and Edward and Sophie in the back, arrived at Balmoral.

- 6.31pm

Buckingham Palace said in a statement: "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 after 7pm

Charles, who became King on the death of his mother, said: "The death of my beloved mother, Her Majesty The Queen, is a moment of the greatest sadness for me and all members of my family.

"We mourn profoundly the passing of a cherished sovereign and a much-loved mother. I know her loss will be deeply felt throughout the country, the Realms and the Commonwealth, and by countless people around the world.

"During this period of mourning and change, my family and I will be comforted and sustained by our knowledge of the respect and deep affection in which the Queen was so widely held."

- 7.08pm

Prime Minister Liz Truss said it was "the passing of the second Elizabethan age" and concluded an address by saying "God save the King".

She referred to Charles, the new King, as King Charles III, saying: "Today the Crown passes, as it has done for more than a thousand years, to our new monarch, our new head of state, His Majesty King Charles III."

- 7.25pm

Clarence House confirmed that Charles will be known as King Charles III.

- 7.41pm

Kensington Palace confirmed that Kate and William will be known as the Duke and Duchess of Cornwall and Cambridge.