In an announcement released in the last few moments, Buckingham Palace said: “The Queen died peacefully at Balmoral this afternoon.
"The King and Queen Consort will remain at Balmoral this evening and will return to London tomorrow.”
Prince Charles, her eldest son, becomes King.
Members of the Royal Family flew to Scotland earlier today as details of the Queen's health emerged.
The Queen and her late husband Prince Philip, The Duke of Edinburgh, made a number of Royal visits to Doncaster over the years, visiting places such as the Mansion House, Doncaster Racecourse and RAF Finningley, while also visiting factories, community projects and meeting many locals and civic dignataries over the years.
We’ve delved into our archives to remember some of those visits to Doncaster over the years.
1. The Queen's visits to Doncaster
Arriving on a visit to Doncaster. Photo: National World
2. The Queen's visits to Doncaster
The Queen and Prince Philip enjoy an open top car ride through Doncaster. Photo: National World
3. The Queen's visits to Doncaster
The Queen and Prince Philip wave to crowds outside the Mansion House. Photo: National World
4. The Queen's visits to Doncaster
Crowds at Doncaster Racecourse during a Silver Jubilee visit in 1977. Photo: National World