The BBC's controversial documentary about the Queen lost out in the ratings after making its debut against ITV1's I'm a Celebrity... Get Me Out of Here!
The five-part series made its debut on Monday evening
Monarchy: The Royal Family at Work was seen by 6.7 million people on BBC One, unofficial overnight ratings suggest.
But ITV's jungle reality show attracted 7.9 million viewers, who saw TV host Anna Ryder Richardson being evicted.
BBC One controller Peter Fincham quit after a press preview of the Royal series was misleadingly edited.
Mr Fincham was criticised in a report after the trailer, shown by him to journalists in July, incorrectly implied the Queen had stormed out of a photoshoot "in a huff".
The first programme of the five-part series aired on Monday against the night's second edition of Coronation Street, which had 9.9 million viewers, and I'm a Celebrity...
The success of the programmes on BBC One and ITV1 hit audiences on other channels, with 2.5 million watching Dragon's Den on BBC Two, while drama Boy A on Channel 4 had 1.4 million viewers.
Former Changing Rooms host Ryder Richardson was the latest contestant to be voted off I'm a Celebrity, losing out to former boy band member Jason "J" Brown in the public vote.
After her eviction, the star said she was "really excited" to be leaving the Australian jungle.
Ryder Richardson's 16-day stay included a night in a pit of rats with fellow contestant Christopher Biggins to win the camp a cooked breakfast.