She later visited the Warrant Officers’ and Sergeants’ Mess as well as meeting with families and members of the Old Comrades Association (OCA).

In a speech, the Queen recalled her father’s description of his initial impressions of the “very welcoming” 12th Lancers, when he joined the regiment back in 1937.

“Today, 87 years later, I am delighted to see that the atmosphere amongst the Lancers remains welcoming and relaxed,” she said.

The Queen also highlighted how “particularly busy” the Lancers have been as they prepare for imminent operational tours.

She said: “My father described the regiment as a ‘highly efficient entity, highly skilled, and full of personalities’, I have no doubt that your upcoming deployments will be characteristically successful and will only add to our regiment’s rich history.”

The Queen added: “As you look towards a deployment of challenge and complexity, I know this fierce Lancers camaraderie will be replicated as you strive to make our world a safer place.

“I wish you all Godspeed over the coming months, the greatest of good fortune and a very safe return.”

Queen Camilla was said to have been “awestruck” to see a tunic belonging to her father, which is to be put on public display at the Regimental Museum in Derby, following its purchase at auction by the regiment.

She later signed the visitors’ book before leaving through a guard of honour and a street-lining procession.

Commanding Officer Lieutenant Colonel Robin Davies told PA: “It’s really exciting to have the Queen here today. It’s a unique privilege to have a relationship with her and for her to visit us is wonderful.

“The highlights are her meeting our soldiers. Our soldiers are tremendous, they’re wonderful, they’re inspirational, and for her to meet them and their families is a unique experience.

“She treasures her relationship with the Lancers, she is a Lancer. She remembers her childhood, her father was a regimental officer, and so this is coming home.”

The Royal Lancers, an armoured reconnaissance regiment, was formed in 2015 when the 9th/12th Royal Lancers and The Queen’s Royal Lancers were amalgamated, and the words ‘Queen Elizabeths’ Own’ were later added to recognise the link between them, Queen Elizabeth and the Queen Mother.

Commissioned in 1937, the Queen’s late father, Major Bruce Shand, served with the 12th Lancers during the Second World War.

Maj Shand was awarded the Military Cross in 1940, during the retreat to Dunkirk and again in 1942 for his efforts in the Second Battle of El Alamein in North Africa.

In her speech, the Queen said: “During the British Expeditionary Force’s withdrawal to Dunkirk, battling against insidious tiredness, poor mapping, and an ever-advancing enemy force, my father reflected ‘My troop were wonderful’ and ‘I know as a Troop Leader how much I owe to these… soldiers’.”

Major Shand was captured on 6 November 1942, during a battle in which the crew of his armoured car were both killed and he was severely wounded.

He was held in Spangenberg Castle until he escaped in early 1945. Major Shand left the Army after the war and died in June 2006, aged 89.

In December, Queen Camilla joined soldiers from the Royal Lancers to plant trees on the Sandringham Estate in Norfolk.

Queen Camilla marked her new honorary role with the Royal Lancers (Queen Elizabeths’ Own) by inviting 99-year-old Michael de Burgh to Clarence House in June, two days ahead of his 100th birthday.

Mr de Burgh is a Second World War veteran and stalwart of the regiment.

The Royal Lancers is an Armoured Cavalry Regiment based in Catterick Garrison, North Yorkshire.

They have deployed on numerous operations and exercises over the last 12 months, including to Poland as part of Nato’s Enhanced Forward Presence (eFP) and as part of Nato’s Kosovo Force.

This year the regiment is set to adopt a new role, working with the brand-new Ajax fighting vehicle.