Prince Harry also described her as a "guiding compass" through her commitment to service and duty.
In a statement released this morning, which is understood to have been held back a day out of respect for the anniversary of September 11, the duke also said he wanted to honour his father at the start of his reign as King.
He said: "In celebrating the life of my grandmother, Her Majesty The Queen - and in mourning her loss - we are all reminded of the guiding compass she was to so many in her commitment to service and duty.
"She was globally admired and respected. Her unwavering grace and dignity remained true throughout her life and now her everlasting legacy.
"Let us echo the words she spoke after the passing of her husband, Prince Philip, words which can bring comfort to all of us now: 'Life, of course, consists of final partings as well as first meetings."" He added: "Granny, while this final parting brings us great sadness, I am forever grateful for all of our first meetings, from my earliest childhood memories with you, to meeting you for the first time as my Commander-in-Chief, to the first moment you met my darling wife and hugged your beloved great-grandchildren.
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