The Princess Royal has paid tribute to her father, the Duke of Edinburgh, saying he was “my teacher, my supporter and my critic’’ in a message following his death at the age of 99.

In a message, Princess Anne said: “I regard it as an honour and a privilege to have been asked to follow in his footsteps and it has been a pleasure to have kept him in touch with their activities.

“I know how much he meant to them, in the UK, across the Commonwealth and in the wider world.

“I would like to emphasise how much the family appreciate the messages and memories of so many people whose lives he also touched. We will miss him but he leaves a legacy which can inspire us all.”

Anne is the Queen and Philip’s only daughter and the second of their four children.

She and her father shared a love of sport, particularly their passion for equestrianism.

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