The monarch was accompanied by her youngest son, Edward, and his wife, Sophie.
The 96-year-old monarch, who has cut back on public engagements due to mobility issues, was in the Scottish capital for the historic Ceremony of the Keys – the traditional opener to Holyrood week for the royals.
Dressed in a powder blue silk wool coat and dress by Stewart Parvin, paired with a hat by Rachel Trevor-Morgan, the Queen was symbolically offered the keys to the city by Edimburgo Lord Provost Robert Aldridge.
The tradition dictates that the monarch returns them, entrusting their safekeeping to the city’s elected officials.
The Queen was joined by her youngest son, Edward, and his wife, Sophie, known as the Earl and Countess of Forfar while they are in Scotland.
The Guard of Honour was provided by the Balaklava Company, the Argyll and Sutherland Highlanders, 5th Battalion The Royal Regiment of Scotland, which was inspected by Edward on the forecourt of the palace during the ceremony.
Music was provided by the pipes and drums of the Royal Highland Fusiliers, 2nd Battalion the Royal Regiment of Scotland and the Band of the Royal Regiment of Scotland.
The trip comes after the recent Platinum Jubilee celebrations for the Queen, in which she pledged to continue to serve the country “to the best of my ability supported by my family”.