Buckingham Palace has confirmed that Queen Elizabeth II is dead. In a statement, Buckingham Palace said: "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."
All the Queen's children travelled to Balmoral, near Aberdeen, after doctors placed the Queen under medical supervision.
She died with her children gathered around her at her Scottish estate near Aberdeen.
Her grandson, Prince William, is also there, with his brother, Prince Harry, on his way.
The Queen had been under medical supervision the entire Thursday at Balmoral after doctors became concerned for her health.
Buckingham Palace said in a very unusual statement that the 96-year-old monarch was "comfortable".
"Following further evaluation this morning, the Queen's doctors are concerned for Her Majesty's health and have recommended she remain under medical supervision," the statement said.
Prince Charles, the heir apparent, and his wife, Camilla, the Duchess of Cornwall were present when the Queen died.
The Duke of Cambridge, the Duke of York, and the Earl and Countess of Wessex were also present.
Following the death, Prince Charles will on Friday be proclaimed the new official reigning monarch.
The Queen’s funeral is expected to be held 10 days after her death.