The Queen once visited the set of Emmerdale, where Emily portrayed the character Louise Appleton for seven years.
The star shared a photo of the moment she shook the Queen's hand, along with a sweet caption about the 'honour' of meeting her.
“Watching the beautiful farewell to the Queen last night with Henry and he asked me if I ever met her.
“It was such a great honour to meet her with my dear friends from Emmerdale. I will never forget this day and her beautiful smile. Vale Queen Elizabeth,” she wrote on Instagram.
UK Emmerdale fans were grateful that the star took the time to remember the Queen, with many commenting on her post.
“Look at her face. So happy to meet you!” one fan wrote.
“Such beautiful words, it will be a day that you will always remember,” added another.
“It means so much that our wonderful Queen is being remembered by so many around the world. Thank you Emily,” a third chimed in.
“It was a beautiful funeral for our beautiful Queen, you were very lucky to [have] met her, hope Henry was impressed with this photo,” another gushed.
The monarch toured Emmerdale as part of her Golden Jubilee tour of Britain in 2002. She was able to visit iconic sets such as the village bed and breakfast, plus the Woolpack Inn.
Her visit didn’t go smoothly, with an explosion at the post office going awry, sending flying debris much closer to the royal than expected.
Mark Charnock, who has played Marlon Dingle since 1996, told The Sun that Her Majesty wasn’t ruffled at all.
“She was cool as a cucumber when the explosion went off. The rest of us jumped out of our skins,” he remembered.
Never miss a thing. Sign up to Yahoo Lifestyle’s daily newsletter.
Or if you have a story idea, email us at firstname.lastname@example.org.