Jennie Bond told OK! that The Queen has always had more in common with the Duchess of Cornwall than she did with the late Diana, Princess of Wales, but said that our monarch struggled to endorse her son Prince Charles' "adulterous relationship" with Camilla.
The royal expert, who worked for the BBC for 23 years, gave her views ahead of the Queen's platinum jubilee celebrations.
While catching up for our exclusive at-home shoot Jennie, 71, told us: "The Queen has always had a great deal more in common with Camilla than she had with Diana, but it was a very difficult decision to endorse an adulterous relationship and she had to keep her distance.
She continued: "I think the Queen has a great deal of respect and affection for Camilla. They get on just fine."
The Prince of Wales and the Duchess of Cornwall were married back in 2005, 35 years after they first met.
Our future king was married to Diana for 15 years before their divorce in 1996. Princess Diana tragically passed away the following year as a result of a car accident in Paris.
Charles' affair with Camilla was well-documented and Diana's words, "Well, there were three of us in this marriage, so it was a bit crowded" are infamous.
When it comes to the future of the monarchy, the Queen recently announced that Camilla will become Queen Consort when Charles eventually becomes King.
"When, in the fullness of time, my son Charles becomes king, I know you will give him and his wife Camilla the same support that you have given me, and it is my sincere wish that, when that time comes, Camilla will be known as queen consort as she continues her own loyal service," a statement from Her Majesty said.
And Jennie explained the transition in leadership is already underway, but added: "I don’t think that means for a moment that the Queen will abdicate.
"But the norm will be that she won’t be at all the events we’re used to seeing her.
"She can stay in touch with her charities and ambassadors via Zoom, and we’re getting a much more intimate view of her. She’s very visible and will continue to be so. Fundamentally, she carries on because the Queen enjoys being Queen."
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