Here, we look back at the times she came to the city.

The future Queen’s first official visit to Worcester, to tour the Royal Worcester factory and open the porcelain museum, was actually in 1951, minus Philip and when still Princess Elizabeth.

First visit to Worcester as Queen in 1957

It was not until 1957 the city had its first close look at the new royal couple.

April 24 was a memorable day for more than 7,000 schoolchildren who packed Worcestershire CCC’s New Road ground as the Queen and Prince Philip were slowly driven around the outfield, standing in the back of a maroon Land Rover.

That was on the second day of a two-day official visit to the county, with the overnight stop spent on the Royal train near Leigh Court.

It had arrived at Shrub Hill station 8.45pm the previous evening when the Royal couple were driven down Lowesmoor, St Nicholas Street, The Cross and High Street Worcester to the floodlit Guildhall for dinner with 500 guests.

The following morning they arrived at 10am at Henwick Station and drove down through the new, unnamed gates on to WCCC’s ground.

While the Band of the Royal Artillery played, The Queen inspected a guard of honour of The Queen’s own Worcestershire Hussars (Warwick & Worcs Yeomanry) and ranks of Old Comrades.

After the Land Rover tour of the outfield, the royal couple changed back to their official car for the drive to Malvern, where they visited the Royal Radar Establishment and Malvern College, before going over the county border into Herefordshire at British Camp.

There followed royal visits by both The Queen and Prince Philip in 1980 (for the Maundy Thursday Service at the Cathedral), and in 1989 (for the 800th anniversary of the first Royal Charter to Worcester.

1989 and the Queen visits the city again

In November 1989, the Queen and Prince Philip made a near four-hour visit to the city to pay tribute to the Queen’s Own Mercian Yeomanry, of which the Queen was Colonel-in-Chief, and unveil a plaque to open new £350,000 workshops at the cathedral.

The Royal Train arrived at Shrub Hill station at 11.10am, where the Queen unveiled a British Rail locomotive renamed The Queen’s Own Mercian Yeomanry and inspected BR’s travelling post office.

The Royal cavalcade then travelled down Lowesmoor and City Walls Road to pass through Edgar Tower and on to College Green, where the Queen opened the new workshops for the £10million restoration operation on the Cathedral.

The Queen during a visit in 1989 (Image: The Queen and Prince Phillip in Worcester in 1989)

There followed a tour of the building before an invited audience of 1,500.

Lunch was then taken in the Guildhall with 200 special guests.

At 2.40pm it was back in the Royal car to drive down High Street, The Cross and Foregate Street to the Shirehall, where the Queen inspected a Guard of Honour on the forecourt before a private tea with members, families and old comrades of the QOMY.

At 3.45pm the Royal couple left Worcester to head back to London.

Queen's visit in 2001

The Queen visited again in 2001 as part of the 250-year celebrations of Worcester Porcelain and to open the new Worcester City Police Station.

Queen's diamond jubilee visit in 2012

The Queen's final visit to Worcester was in 2012 as part of her Diamond Jubilee tour.

The Queen and Duke of Edinburgh arrived in Worcester just before noon to officially open the Hive, the city’s new £60 million library and history centre.

Dressed in a Karl Ludwig pale pink tweed coat and dress and a matching hat from Angela Kelly, the Queen, accompanied by Prince Philip, was welcomed by a cheering crowd as she arrived in the Butts.

The Royal party was greeted by the deputy lieutenant of Worcestershire Angela Brinton and several civic dignitaries including His Royal Highness the Duke of Gloucester, chancellor of the University of Worcester; vice chancellor Professor David Green; Bishop of Worcester Dr John Inge; Worcester MP Robin Walker; Mayor of Worcester Roger Berry; and Councillor Adrian Hardman, the leader of Worcestershire County Council.

Inside the building, the Queen enjoyed a tour of the ground floor taking in the new children’s library while Prince Philip was taken to the third floor.

The Queen, escorted by the Duke of Gloucester and Coun Hardman, was taken to the summer reading challenge, where she was introduced to Worcestershire’s young poet laureate Rowan Standish-Haines.

The group then moved to the story pit, where Kathy Kirk, head of library services, explained some of the features of the library and then viewed a Books Alive performance by children from St Clement’s Primary in St John’s, Worcester.

She also met artists whose work is exhibited in the Hive and visited the council’s customer service Hub.

Following their tour, Prof Green welcomed the Queen to Worcester and invited her to unveil a plaque, marking the official opening of the Hive.

He said: “Your Majesty, today is a very special day for the people of Worcester and Worcestershire.

We offer our sincerest thanks to you, ma’am, on the occasion of your visit to your Faithful City during this, your jubilee year.”