Queen Beatrix abdicates in favour of King Willem-Alexander – in pictures

Princess Maxima, Queen Beatrix and Crown Prince Willem-Alexander of the Netherlands arrive at a dinner at the Rijksmuseum in Amsterdam on Monday, the day before Beatrix's abdication Photograph: Michel Porro/WireImage

A man waves a flag in Dam Square as crowds gather to watch the abdication of Queen Beatrix Photograph: Emilio Morenatti/AP

Astrubas Medina and Reina Reyes from Venezuela wait in front of the Royal Palace in Amsterdam to see the Netherlands' new king Photograph: Michael Kooren/Reuters

People wrapped in flags wait outside the Royal Palace Photograph: Emilio Morenatti/AP

An aerial view of the crowds gathering in front of the Royal Palace on Dam Square to celebrate the investiture of King Willem-Alexander Photograph: Robin Van Lonkhuijsen/EPA

Queen Beatrix shakes hands with guests at the abdication ceremony Photograph: Jerry Lampen/EPA

Queen Beatrix and her son Crown Prince Willem-Alexander at the Royal Palace in Amsterdam, before she signs the abdication document Photograph: Reuters

Queen Beatrix is handed the instrument of abdication Photograph: Bart Maat/AP

Queen Beatrix signs the instrument of abdication in favour of her son Prince Willem-Alexander and his wife, Princess Maxima, in the Mozeszaal, or Mozes hall, of the Royal Palace in Amsterdam Photograph: Bart Maat/AP

The signed instrument of abdication of Queen, now Princess, Beatrix of the Netherlands is seen after the ceremony at the Royal Palace Photograph: Reuters

King Willem-Alexander of the Netherlands, his mother, Princess Beatrix, and his wife, Queen Maxima, wave to the crowds in Dam Square from the balcony of the Royal Palace Photograph: Patrick Stollarz/AFP/Getty Images

An orange balloon is seen above the crowds gathered for Beatrix's abdication ceremony in Amsterdam Photograph: Kevin Coombs/Reuters

A man wearing an inflatable crown looks up at the balcony with binoculars as a large crowd gathers Photograph: Reporter#44321/Demotix/Corbis

King Willem-Alexander kisses his mother on the balcony of the Royal Palace Photograph: Daniel Ochoa de Olza/AP

People celebrate the investiture of the new Dutch king Photograph: Cris Toala Olivares/Reuters

King Willem-Alexander and Queen Maxima acknowledge the cheering crowds in Dam Square from the balcony of the Royal Palace with their children, from left: Catharina-Amalia (the new Princess of Orange and first in line to the throne), Ariane and Alexia Photograph: Daniel Ochoa de Olza/AP

People celebrate in Dam Square Photograph: Catrinus Van Der Veen/EPA

The regalia of state, including the Dutch crown and globus cruciger, are placed on the credence table prior to the inauguration of King Willem-Alexander at the Nieuwe Kerk (New Church) in Amsterdam Photograph: Robin Utrecht/EPA

Crown Prince Naruhito and Crown Princess Masako of Japan arrive Photograph: Peter Dejong/AFP/Getty Images

Prince Charles, Prince of Wales, and Camilla, Duchess of Cornwall, attend the inauguration
Photograph: Peter Dejong/AFP/Getty Images

Spain's Crown Prince Felipe and Crown Princess Letizia Photograph: Peter Dejong/AFP/Getty Images

Standard-bearers on duty during the investiture Photograph: Odd Andersen/EPA

King Willem-Alexander and Queen Maxima during their investiture ceremony Photograph: Lex Van Lieshout/EPA

Princess Beatrix of the Netherlands waits with Catharina-Amalia, Princess of Orange (L), Princess Ariane (2ndR) and Princess Alexia for the start of the inauguration ceremony at Nieuwe Kerk (New Church) in Amsterdam Photograph: Peter Dejong/AFP/Getty Images

King Willem-Alexander takes the oath next to his wife Queen Maxima during a religious ceremony at the Nieuwe Kerk church Photograph: Peter Dejong/AFP/Getty Images

Princess Beatrix follows her granddaughters on their way out from the Nieuwe Kerk church Photograph: Jasper Juinen/Reuters

People celebrate the investiture on boats on a canal in Amsterdam Photograph: Robin Van Lonkhuijsen/EPA

King Willem-Alexander and his wife Queen Maxima walk after attending a religious ceremony at the Nieuwe Kerk church Photograph: Jasper Juinen/Reuters