The Queen has left the Royal Yacht Britannia for the last time before the ship is retired from service after almost 44 years.

She descended the walkway after an emotional farewell at Portsmouth with a 14-strong royal party.

And she paid a tribute to the yacht and men who served on her and spoke of her sadness at the end of an era for the vessel. Britannia was said to be regarded as a second home by the Royal Family.

Britannia is moored at Portsmouth's naval base

The group was given a final tour by Britannia's commanding officer, Commodore Anthony Morrow, before the paying-off ceremony and thanksgiving service at Portsmouth naval base.

The Royal Marines band played Rule Britannia, Heart of Oak and a stirring finale of A Life On The Ocean Wave to a tearful crowd.

The royal party included the Duke of Edinburgh, the Prince of Wales, the Duke of York, the Princess Royal and Captain Timothy Laurence, Prince Edward, the Duke and Duchess of Gloucester, the Duke of Kent, Prince and Princess Michael of Kent, and Princess Alexandra and Sir Angus Ogilvy.

The Queen was the last to leave after Navy and Royal household cooks prepared a buffet lunch on board.

The Queen, who chose the name Britannia, launches the royal yacht in 1954

"It is with sadness that we must now say goodbye to Britannia," she said.

"It is appropriate that with this final event she bows out in the style which is so typical of the manner in which her business has always been conducted."

The Queen also paid a heartfelt, personal tribute to the yacht and men who served on her.

"Together with members of my family, Prince Philip and I join you today to pay tribute to Britannia and give our thanks to all who have been part of her company," she said.

Royal Marines band played Rule Britannia and Life on the Ocean Waves

"Looking back over 44 years we can all reflect with pride and gratitude upon this great ship which has served the country, the Royal Navy and my family with such distinction.

"Britannia has provided magnificent support to us throughout this time, playing such an important role in the history of the second half of this century.

"Steaming over one million miles, she has proudly carried out over 700 royal visits at home and overseas as well as numerous highly successful commercial programmes.

"Her achievements are a great testament to those who designed and built her, and to those craftsmen and artisans who have maintained her with such dedication over all these years."

Decommissioning of Britannia ends 350 years of Royal Yachts

Earlier, officers and Royal Yachtsmen stood to attention on deck as the Queen and her entourage were piped aboard.

Britannia's gleaming navy blue hull - her masts dressed with naval flags - sat proudly in the water belying her age.

The decommissioning ceremony comes just 24 hours after the Government announced that Britannia will end her days either in Edinburgh or on the Manchester Ship Canal.

Negotiations with the rival consortia will now go ahead to decide which offers the best prospects for preserving the vessel, focusing in particular on arrangements to ensure that Britannia's use and appearance are properly safeguarded.

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