The Queen’s cause of death was old age, her death certificate has revealed.
The document, published by the National Records of Scotland on Thursday, records that the late monarch died at 3.10pm on September 8 at Balmoral Castle in Ballater.
Old age was the only cause of death listed, with no other contributing factors.
It gives her forenames as Elizabeth Alexandra Mary and writes next to her occupation: "Her Majesty the Queen".
The certificate was signed by the Princess Royal, who was by her side, as was her eldest son Charles.
He was seen flying to Balmoral with his wife Camilla and arrived at 10.30am.
The confirmation of timings show that several Royal Family members didn't arrive in time to say a final goodbye to their beloved mother and grandmother.
The palace issued a statement at 12.30pm saying that doctors were concerned for her health and recommended she remain under medical supervision.
A plane carrying Prince William, Prince Andrew, Prince Edward and his wife the Countess of Wessex landed in Aberdeen at 3.50pm, while Prince Harry took off from Luton airport at 5.35pm.
The monarch's death was officially announced at 6.30pm, with the Duke of Sussex's plane landing in Aberdeen at 6.46pm.
Buckingham Palace had issued a statement saying: "The Queen died peacefully at Balmoral this afternoon."
The Queen had carried out her last official duty, appointing Liz Truss as prime minister, just two days earlier.
She had been suffering from what Buckingham Palace had called "episodic mobility problems" since the end of last year, forcing her to withdraw from nearly all of her public engagements.
National Records of Scotland announced this afternoon that it had published the extract in the Register of Deaths.
In a statement, the public body said: "The Registrar General for Scotland, Paul Lowe, confirmed that Her Majesty The Queen’s death was registered in Aberdeenshire on 16th September 2022.
"National Records of Scotland has today published an extract from Her Majesty The Queen’s entry in the Register of Deaths. An official extract of an entry in the Register of Deaths can also be referred to as a death certificate."
The document lists Douglas James Allan Glass as the certifying registered medical practitioner.
The Registrar General for Scotland, Paul Lowe, confirmed that the death was registered in the village of Aberdeenshire.
Windsor Castle is named as her usual place of residence, while Princess Anne's address is listed as Gatcombe Park in Gloucestershire.
If the Queen had died in England, there would be no need to release an official cause of death because the Registration Act of 1836 does not apply to monarchs.
However, as she passed away in Scotland, all deaths must be registered within seven days under the Registration of Births, Deaths and Marriages (Scotland) Act of 1965, including the submission of a death certificate to a registrar.
The Princess Royal is named as the "informant" on the document and would have notified the local registrar of her mother's death.
When paying tribute to her mother the Queen, Princess Anne revealed she was with the head of state in her last moments.
Anne, who accompanied her mother's coffin as it travelled from Balmoral to London, via Edinburgh, said: "I was fortunate to share the last 24 hours of my dearest mother's life."
The Queen was laid to rest on September 19, following 70 years of service, after family, friends and the nation said a fond farewell to the late monarch.
For the woman who was never meant to be sovereign, the Queen fulfilled her pledge to serve nation and Commonwealth and came to earn the respect of many - from world leaders to the public.
Her grieving family walked behind her coffin throughout the long day of her funeral and burial, a simple but public tribute, and the emotion was clear to see on the face of King Charles III who travelled to Scotland soon afterwards where he has remained with his Queen Consort.
The day before her death at the age of 96 the head of state pulled out of a virtual Privy Council meeting after doctors ordered her to rest.
On September 8, Buckingham Palace announced just after 12.30pm that the head of state's doctors were concerned about her health and recommended she remain under medical supervision.
Members of the royal family rushed to be with the Queen, with Charles and Camilla, the-then Prince of Wales and Duchess of Cornwall who were already in Scotland travelling to Balmoral.
The death certificate confirmed what was suspected on the day, that some of the Queen's children and grandchildren tried in vain to be with her during the late monarch's last hours.
William drove his uncles the Duke of York and Earl of Wessex, who was joined by his wife, from Aberdeen airport to Balmoral, arriving just after 5pm, while the Duke of Sussex was driven through the gates some time later.
The man who was in charge of looking after the Queen's health was Professor Sir Huw Thomas, Head of the Medical Household and formerly physician to the Queen.
Dr Douglas Glass, who had the title Apothecary to the Queen and in 2019 acted as Charles' physician when he made an official visit to Germany, certified the late monarch's cause of death.
Old age is acceptable if the doctor certifying death has cared for the patient for a long time, was not aware of any disease or injury that contributed to death and had observed a gradual decline in the person's general health and functioning.
The Queen had been experiencing sporadic mobility problems during the final period of her life and used a walking stick regularly in public.
The health development came after the head of state was secretly admitted to a private London hospital for "preliminary investigations" in October last year - her first overnight admission for eight years.
The monarch was soon back at her Windsor Castle desk but spent the following three months under doctors' orders to only conduct light duties and missed a number of prominent events including the Cop26 climate change summit in Glasgow and the Festival of Remembrance.
Following tradition the Queen was spending her summer break at Balmoral and a few days before she died performed one of her major duties of state and asked Liz Truss to form a Government and become her 15th prime minister.