THE Queen's death certificate has revealed the exact time she passed away with Princess Anne and King Charles at her bedside.

Her Majesty died at 3.10pm on September 8 from old age, the document confirmed today.

This means her passing came less than two hours after Buckingham Palace confirmed to the world doctors were "concerned" for her health.

The royals dashed to make it to her bedside.

As newsreaders changed into black clothing and the sad situation became rolling news, Charles had joined his sister Princess Anne at Balmoral.

At 2.39pm, a plane carrying Prince William and his uncles Prince Edward – with wife Sophie – and Prince Andrew left RAF Northolt.

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The Dassault Falcon was originally meant to take off at 1.30pm but there was an unknowing delay.

It eventually landed at Aberdeen airport at 3.50pm – 40 minutes too late for the royals to say a final goodbye.

Princess Anne and King Charles thankfully had made it to their mother's bedside in time.

A statement from the Palace at 6.30pm read: "The Queen died peacefully at Balmoral this afternoon.

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"The King and The Queen Consort will remain at Balmoral this evening and will return to London tomorrow.” 

Meanwhile Prince Harry arrived at 8pm, after the heartbreaking news of the 96-year-old's death was announced.

There had been a scramble to get Harry to the Scottish estate with a private jet eventually charted to fly him to Balmoral.

His wife Meghan Markle remained in London as the news of the Queen's passing sent shockwaves around the world.

Her Majesty was buried with her husband Prince Philip alongside the remains of her mother, father and sister in St George's Chapel last Monday.

It followed a state funeral for the Queen, who dedicated her life to 70 years of service for her country.

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