The Queen will not attend the Epsom Derby on Saturday, Buckingham Palace has confirmed.

The monarch is expected to watch the major sporting event on television at Windsor Castle.

There had been speculation the Queen would not appear at the race due to her ongoing mobility issues.

Royals attend Guildhall event – follow latest updates

The 96-year-old was not at the thanksgiving service at St Paul’s on Friday after experiencing “some discomfort” the previous day, the palace said. She watched the service at home in Windsor instead.

She appeared twice during Thursday’s Jubilee celebrations, where she is believed to have experienced episodic mobility issues.

The Queen first appeared on the balcony of Buckingham Palace as she waved to thousands of well-wishers before being joined by the Duke of Kent as they took the salute during Trooping of the Colour. She then appeared half an hour later with other senior royals for the traditional RAF flypast.

The monarch also attended the beacon lighting event on Thursday night.

The Queen had a “lovely time” during the celebrations on Thursday but found the day “very tiring”, the Duchess of Cambridge is said to have told an attendee at the Guildhall reception on Friday.

Gill Smallwood from Bolton, a chief executive of a domestic violence charity, spoke with Kate after a service of thanksgiving at the nearby St Paul’s Cathedral.

Ms Smallwood said she had asked Kate how the Queen was doing and said Kate replied to say the Queen “was fine, it was just very tiring yesterday, and she (the Queen) had had a lovely, lovely time”.

The royal family came together with Harry and Meghan in honour of the Queen at the special Jubilee service of thanksgiving on Friday.

The Prince of Wales, Duchess of Cornwall and the Duke and Duchess of Cambridge