Camilla adopted the Jack Russell terrier then a 12-week-old puppy - from Battersea Dogs and Cats Home in London in 2011.
Beth became her faithful pal, and even featured on her Coronation gown last year.
Buckingham Palace announced the sad news on its social media pages yesterday, alongside a photo montage of the precious pet.
The post read: "A sad farewell to Beth, the Queen's much-loved companion from Battersea Dogs and Cats Home who brought such joy, whether on walkies, helping on official duties or curled up by the fire." It is understood 13-year-old Beth had an untreatable tumour and had to be put down at the weekend.
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