The Queen arriving at the Eden Project on Friday evening in celebration of The Big Lunch initiative, during the G7 summit (Image: PA)

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Joe Biden appeared to break royal protocol as his motorcade swept into a G7 dinner reception after the Queen.

The US President met Her Majesty for the first time during the summit in Cornwall on Friday, which has seen seven world leaders come together in the English coastal town for three days.

The POTUS's 18-car convoy arrived at the Eden Project five minutes after the monarch got there with Prince William and Kate, and Prince Charles and Camilla.

All guests are traditionally meant to be in place before HM arrives for any official occasion.

However, it doesn't appear to have put a dampener on the meeting, with the Queen all smiles as she spoke with Mr Biden.

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Joe Biden's motorcade arrived after the Queen – in a possible protocol breach
(Image: Andy Barton/SOPA Images/REX/Shutterstock)

The Firm is crucial to Britain's diplomatic mission to keep the visiting American onside as Prime Minister Boris Johnson pushes for a swift free trade deal, as well as a quarantine-free travel corridor.

Leading royal etiquette authority Debrett's told the Daily Mail: "It is correct for everyone to arrive before the royal personage and protocol rules that no guest should leave an event before a member of the Royal Family."

The President and First Lady Dr Jill Biden are due at Windsor Castle on Sunday for tea.

The Queen was all smiles when she met Biden at the event
(Image: POOL/AFP via Getty Images)

Mr Biden's motorcade was flanked by eight police outriders and arrived from the G7 hotel in Carbis Bay just before 7pm on Friday.

The seven world leaders had taken part in a photo call on the beach earlier in the day.

The reception was the first time HM has met a foreign leader since the Covid pandemic, as well as her first official engagement since Prince Philip died in April.

All seven G7 world leaders had enjoyed a photo on the beach before heading to the Eden Project
(Image: Getty Images)

Seeing a ruling monarch together with her two heirs – in this case Charles and William – outside Buckingham Palace is also a rarity.

Onlookers had gathered at the service entrance to the Eden Project as the royals arrived, with the Queen having come down by train.

In a somewhat bizarre opening speech, Mr Johnson urged G7 leaders to aim for a more "feminine" and "gender neutral" recovery after the havoc of Covid.

All delegates, including leaders, must take a Covid test every day of the summit.

Saturday sees a barbecue on Carbis Bay, with a Red Arrows flypast.