Kate Middleton and Prince William introduce their days-old royal baby to the Queen

The Queen has finally been introduced to her new great-granddaughter Princess Charlotte – but kept the meeting very brief.

Her Majesty, 89, was spotted arriving at Kensington Palace on Tuesday afternoon ready to meet Kate Middleton and Prince William‘s royal baby girl, who was born at London’s St Mary’s Hospital on Saturday morning.

But after getting to the palace around 2.45pm, the Queen left at 3.04pm, meaning that she spent just 19 minutes with the latest addition to her family.

Having had four children herself, we think Her Majesty knew it was best to leave before the next nappy change! Kate and Wills have got their hands pretty full after all, given that they’ve also got 21-month-old son Prince George to attend to.

The meeting was shorter than when the Queen met George following his birth in July 2013, as she spent just over half an hour with her great-grandchild on that occasion.

Now that Her Majesty has met little Princess Charlotte, it’s likely that Kate, 33, and Wills, 32, will soon leave London and head to their country home in Norfolk. It’s thought that the family will spend the next few weeks at Anmer Hall where they can have some privacy.

The 10-bedroom mansion is based on the Queen‘s Sandringham Estate and offers a quiet retreat for the royals.

Yesterday was certainly an important day for Princess Charlotte. As well as meeting her great-grandmother, the tot had her birth registered by proud dad William.

The Duke of Cambridge signed the certificate at Kensington Palace, with Registrar Alison Cathcart from Westminster Register Office as a witness. A picture of the new arrival’s birth certificate was shared by the palace on Twitter and attracted lots of attention.

Several fans were impressed by Kate‘s occupation being listed as ‘Princess of the United Kingdom’. Not a bad job, we’d say! Meanwhile the baby girl’s full name is given as Her Royal Highness Princess Charlotte Elizabeth Diana of Cambridge.

Once the family leave for Norfolk it’s thought that they may not be seen in public again until they have Princess Charlotte christened.

SEE PICTURES Kate Middleton’s baby diary

Anna Francis