The Queen is pictured with her own father, the Duke of Edinburgh and a young Prince Charles in the 1951 snap (Image: @RoyalFamily/Twitter)

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The Queen today shared a picture of three generations of royal dads to mark Father's Day as Prince Charles, Kate and William also paid tribute to the late Prince Philip in a series of touching messages.

The Royal Family's Twitter account posted a picture of the monarch with her own father, King George VI alongside Prince Philip and a young Prince Charles.

Alongside it was a message paying tribute to dads around the world.

The black-and-white image was taken at Balmoral back in 1951, two years before her coronation following the king's death.

In a sweet message, the tweet reads: "To all dads everywhere, we wish you a very special Father’s Day.

"To mark #FathersDay we are sharing this photograph of The Queen with her father, King George VI, and Prince Philip watching a young Prince Charles sitting on a statue at Balmoral in 1951."

Prince Charles also shared a picture of the Duke of Edinburgh, alongside snaps of himself with his two sons in happier times.

The tweet also featured pictures of Camilla with her dad, Major Bruce Middleton Hope Shand, who died in 2006.

It said: "To all Papas everywhere, and to those who may be missing their Dads today, we are thinking of you and wishing you a special #FathersDay."

Meanwhile the Duke and Duchess of Cambridge wrote: "Wishing fathers everywhere a happy Father’s Day."

They shared a short clip featuring pictures of the couple's dads, Prince Charles and Michael Middleton, along with their own children.

A photo of Prince Philip and the Queen with a number of their great-grandchildren was also included.

Today marks the royal family's first Father's Day without Prince Philip following his death earlier this year.

Prince Philip, who the queen married in 1947, died at Windsor Castle in April, just weeks before what would have been his 100th birthday.

His funeral was viewed by millions across the globe as royals paid tribute to the longest-serving consort in British history.

Prince Philip, who died in April, with the Queen in 2007
(Image: Tim Graham/Getty Images)

He and the Queen had four children – Charles, Anne, Andrew and Edward.

Last week Sophie, Countess of Wessex, said Prince Philip's death has left 'giant-sized hole' in the lives of the royal family as she broke down in tears in an emotional interview.

The 55-year-old reflected on the loss of the Duke of Edinburgh, 99, amid a tumultuous year for the royal family.

The Queen shared a message for dads all over the world, two months after losing her husband
(Image: Getty)

In an interview with BBC Radio 5's Naga Munchetty, Sophie spoke about the difficulty of grieving in public and amid the pandemic following Philip's death.

"Well he's left a giant-sized hole in our lives," she said.

"Unfortunately the pandemic has slightly slewed things in as much as it's hard to spend as much time with the Queen than we would like to."

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A tearful Sophie added: "The normal way of things isn't normal yet.

"So we're not necessarily doing the things that we would have normally done with him. So I think the whole grieving process is probably likely for us to take a lot longer."

In spite of her loss, the Queen has returned to her duties since Philip's death, notably hosting world leaders at the G7 summit.