The message written by William and Kate on X, formerly known as Twitter, was signed “W&C”.
It read: “Today we remember the extraordinary life and legacy of Her Late Majesty Queen Elizabeth. We all miss you. W & C”
Today we remember the extraordinary life and legacy of Her Late Majesty Queen Elizabeth. We all miss you. W & C pic.twitter.com/SkmGtmpNEE
— The Prince and Princess of Wales (@KensingtonRoyal) September 8, 2023
The message posted on Friday was accompanied by a photo taken by the Princess of Wales of the late monarch surrounded by her great-grandchildren and two youngest grandchildren.
In the photograph taken by Kate at Balmoral last summer, the late Queen is pictured with: (back row, left to right) Lady Louise Mountbatten-Windsor and James, Earl of Wessex, (middle row, left to right) Lena Tindall, Prince George, Princess Charlotte, Isla Phillips, Prince Louis, and (front row, left to right) Mia Tindall holding Lucas Tindall, and Savannah Phillips.
Missing from the photograph are Prince Harry and Meghan’s children Prince Archie and Princess Lilibet, Princess Eugenie’s son August Brooksbank, and Princess Beatrice’s daughter Sienna Mapelli Mozzi.
The Waleses were also pictured on the Buckingham Palace balcony with the late Queen and the now-King during the Platinum Jubilee celebrations, with another image of the Queen dressed in a vibrant blue coat and hat.
It comes as the Prince and Princess of Wales marked the first anniversary of Queen Elizabeth II’s death with a small private service in Wales.
William and Kate attended St Davids Cathedral in St Davids, the smallest city in Britain, in Pembrokeshire on Friday - exactly a year since the nation’s longest-reining monarch died peacefully of old age at 96.
It was led by the Dean, the Very Rev Dr Sarah Rowland Jones, who is expected to reflect on the Queen's "lifelong example of faithful and devoted service".
Thou Knowest, Lord, The Secrets Of Our Hearts - played during the funeral of the Queen at Westminster Abbey - was sung by the cathedral choir.
Following the service, Kate was to lay a bouquet of flowers including ivy, eucalyptus, white roses and waxflowers, by a portrait of the late Queen.
St Davids has been a site of pilgrimage and worship for more than 1,400 years, since St David - the patron saint of Wales - settled there with his monastic community in the sixth century.
Since the Reformation, one of the quire stalls has been in the possession of the Crown and is known as the Sovereign’s Stall.
This makes St Davids the only UK cathedral where the sovereign has a special stall in the quire among members of the chapter, the governing body of the cathedral.
Elizabeth II was the first monarch to visit St Davids Cathedral since the Reformation when she arrived at the site with her husband, the late Duke of Edinburgh, during a royal tour to Wales in August 1955 following her coronation.
She sat in the special stall then, and on three subsequent occasions during her visits to the cathedral - which dates from 1181 and welcomes around 300,000 visitors annually - over the years.
St Davids has officially been a city since 1995, when Elizabeth II presented the-then town council with letters patent elevating it to the status of a full city council during a ceremony at the cathedral.
In 1982, the late Queen performed the Maundy money ceremony - in which the monarch distributes money to pensioners to commemorate Jesus washing the feet of the Apostles at the Last Supper - at St Davids Cathedral.