The Prince of Wales has said that enjoying a quiet cup of tea with his late grandmother and watching her ride her horses are some of the memories he will “always hold dear”. Speaking from Windsor Castle in a personal video message for a digital memorial for Queen Elizabeth II, William said some of his fondest memories of his grandmother were over a brew at the Berkshire royal residence.

“It’s a privilege to know the late Queen better than most,” he said, wearing a shirt and blazer. “Some of my fondest memories of my grandmother are from here in Windsor. I remember many a quiet afternoon, having tea with her and my grandfather at the castle, chatting, sharing stories, and seeing how completely at ease she was here, surrounded by family and her much-loved dogs and horses. To this day, she’s given me a love of teatime that I never knew I needed.”

In the short video, recorded for the Queen Elizabeth Digital Memorial website, the prince went on to talk about how riding around the Windsor Estate showcased a rare “off-duty, relaxed” side to the former monarch.

He said: “Watching her ride her horses in the Great Park, even when to her later years, showed a side of Granny the world didn’t often see, off-duty, relaxed, and utterly at home. These moments with my grandmother are ones I’ll always hold dear.”

William regularly popped into nearby Windsor Castle to visit his grandparents when he attended Eton College. They would have tea and scones in the Oak Room, chatting about family, work and general chit chat.

The Queen took her tea the traditional way, with tea leaves and a strainer. Earl Grey was her favourite, and she enjoyed the brew, always from a teapot, with a splash of milk and no sugar. She enjoyed high tea at 5pm most days, which included sandwiches, scones and her favourite Dundee cake.

William’s message can be watched on the Queen Elizabeth Digital Memorial website, where anyone can share a memory of the late monarch. There are video messages from individuals who knew the Queen, including veteran royal photographer Arthur Edwards, athlete Tom Daley and artist Dame Tracey Emin.

The site, led by the Cabinet Office, also features archive material, photography and video from key events of the late Queen’s historic 70-year reign.