Queen Elizabeth II, our longest-reigning monarch, died peacefully at her home in Scotland.
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A statement from Buckingham Palace early on Friday (AEST) confirmed the 96-year-old's death.
"The Queen died peacefully at Balmoral this afternoon," Buckingham Palace said.
"The King and The Queen Consort will remain at Balmoral this evening and will return to London tomorrow."
Flags will fly at half mast across Australia on Friday as the nation waits to hear how the official mourning process will proceed.
Australians will remember Queen Elizabeth II as a wise and enduring presence, Prime Minister Anthony Albanese says.
"Her majesty celebrated our good times and she stood with us during trials and hardships, happy and glorious," Mr Albanese said in a televised address on Friday morning following news of the 96-year-old monarch's death.
"Queen Elizabeth II is the only reigning monarch most of us have known, and the only one to ever visit Australia."
In the coming days the prime minister will travel to London with Governor-General David Hurley to convey the sorrow of Australians.