Sarah Ferguson performed her signature deep curtsey for the Queen today as she welcomed the monarch into the Royal Enclosure at Ascot beside her ex-husband Prince Andrew.
The Duchess of York, 59, wore an eye-catching sunshine yellow number with a striking green hat with peacock feathers streaming from its brim and elegant lace netting.
The monarch, 93, also dressed appropriately brightly for the sunny occasion, looking radiant in a stunning raspberry pink outfit by British fashion designer Angela Kelly, which she teamed with a hat adorned with dyed ostrich feather, with a narrow brim so it didn't blow off in the breeze.
She also wore one of her favourite brooches, the Diamond Star, and checked the state of the ground as she entered on the first open-top traditional carriage at 2pm.
Her Majesty was joined in her carriage by her second cousin Lady Helen Taylor, who looked elegant in a dusky rose outfit with a pillarbox hat, and her art gallery dealer husband Mr Timothy Taylor.
The Queen dressed for day four of Royal Ascot today in a stunning raspberry pink outfit by British fashion designer Angela Kelly
The monarch, 93, looked radiant in the brightly coloured ensemble, which she teamed with a hat adorned with dyed ostrich feather, with a small brim so it didn't blow off in the breeze
Sarah Ferguson performed her trademark deep curtsey to the Queen as she rode past the Royal Enclosure in her carriage
Sarah, Duchess of York waved her hand at the Queen before curtseying, while her ex-husband Prince Andrew, Duke of York raised his top hat
Her Majesty waved to the cheering crowds as she arrived in the first carriage beside her second cousin Lady Helen Taylor, who looked elegant in a dusky rose outfit
The next carriage was occupied by Mr Mark Etherington and Lady Alexandra Etherington as well as Carolyn Warren, daughter of the late Earl of Carnarvon, and Mr John Warren, who advises the Queen on her bloodstock.
In carriage three was the Hon. William Vestey and his wife, and Mr and Mrs Luca Cumani - the third time they have travelled to the event in the royal carriage.
Sarah, Duchess of York waved eagerly at the Queen as she chatted to her ex-husband the Duke of York, 59.
Peter Phillips also made a return to Royal Ascot today, though he was without his wife Autumn.
The perfect curtsey is a fine art to perfect - but there is one former member of the Royal Family who has become legendary for her sweeping bows.
Despite not being an official member of The Fold for more than two decades, Fergie always enthusiastically greets her former mother-in-law with an elaborate knee bend.
The Duchess of York, 60, appears to long-look forward to her afternoon at Royal Ascot, often excitedly waving at the monarch to welcome her into the Parade Ring.
In 2018, Fergie and Beatrice held hands as they curtsied to the Queen today on her arrival in the parade ring at Royal Ascot
This year is her fifth attending the Berkshire racecourse event, and she has become famed among royal fans for her enthusiastic displays at the occasion.
In 2018, she joined ex-husband Prince Andrew and their daughter Princess Beatrice, proving she hadn't forgotten how to curtsy as she bobbed in deference to the monarch.
Clutching her daughter's hand, she swept into a low curtsey as her former mother-in-law rode past in the royal carriage.
It was a similar scene in 2017, when Fergie appeared alongside Beatrice at the event and was seen enthusiastically waving to the Queen before bending into a low curtsey.
Fergie looked ecstatic in 2017 as she welcomed the Queen to Ascot with a very enthusiastic wave, joined by her daughter Princess Beatrice
On this occasion, she appeared to call out to Her Majesty as she rode past in her carriage.
Meanwhile in 2016, the mother-daughter duo were once again joined by Fergie's ex husband Prince Andrew.
The Duchess of York beamed at the Queen as she rode past, curtseying low while Beatrice and Andrew proudly looked on.
On the rainy summer day, Fergie used her umbrella to assist in helping her curtsey as low as she could.
In 2016, the Duchess of York showed that she hasn't forgotten royal protocol today as she curtsied to the Queen as her carriage arrived at Royal Ascot
And in 2015 it was a proper family affair at the event, as the usual trio were joined by Princess Eugenie and her now-husband Jack Brooksbank.
Fergie appeared to have perfected the curtsey even then, dropping one knee low to the ground while Prince Andrew offered a respectful bow.
Dropping down: Sarah Ferguson, the former Duchess of York, sweeps the Queen a low curtsey while ex-husband Prince Andrew bows in 2015
The Queen wore an elegant dress strewn with delicate poppies under her bright raspberry pink coat and carried her trusty Launer bag
The smiley monarch grinned as she greeted guests in the parade ring during day four of Royal Ascot, which she has attended every day this week
Sarah, Duchess of York, chatted to her ex-husband Prince Andrew, Duke of York (right) as she arrived in a bright yellow frock and purple shoes
It's all in the details! Sarah Ferguson waved eagerly at the Queen, clutching an emerald green velvet bag and black gloves. She also wore a gold watch with a green leather strap
The duchess wore an eye-catching mustard yellow number with a striking green hat with what looked like peacock feathers
Peter Phillips returned to Royal Ascot today without his wife Autumn, and wore a red tie with a matching scarlet carnation in his jacket lapel
Queen Elizabeth II in her carriage as she heads to Ascot Race course from Windsor Castle for day four of the Royal Ascot meeting
Dame Annabel Whitehead wore a bright green ensemble. Pictured arriving during day four of Royal Ascot at Ascot Racecourse
Timothy Taylor (pictured left) and Peter Phillips arrived together by royal carriage this afternoon at Royal Ascot
Many racegoers whipped out their camera phones to take a snap of the monarch in her carriage as she rode past the crowds
Queen Elizabeth II and Lady Helen Taylor, whose dress featured an unusual red sash design, arrived by carriage during day four of Royal Ascot at Ascot Racecourse
The Queen wore a pair of her favourite pearls and bright pink lipstick to match her eye-catching outfit this afternoon
Queen Elizabeth II pictured in the parade ring during day four of Royal Ascot at Ascot Racecourse - the penultimate day of the event
A vision in pink! The Queen wore a narrow brim hat to avoid it blowing off in the breeze, which was adorned with dyed ostrich feathers
