William and Kate have signed the birth register at Kensington Palace, to formally name their new daughter Her Royal Highness Princess Charlotte Elizabeth Diana of Cambridge.

The certificate states William and Kate’s occupation as Prince and Princess of the United Kingdom.

Kensington Palace released an image of the certificate as the Queen arrived at William and Kate’s residence.

The Queen was in Richmond Castle, North Yorkshire, for a military event when Kate delivered Princess Charlotte on Saturday morning, then went to Sandringham in Norfolk.

The Queen was introduced to her new granddaughter this afternoon.