The Queen passed away before the likes of Prince William, Prince Andrew and other royals made it to Balmoral.
Prince Edward, the Queen's fourth child, and Sophie Wessex also missed Elizabeth II's final moments, the Daily Mirror reports.
It is understood Prime Minister Liz Truss was informed that the head of state had passed away at 4:30pm on Thursday (September 8).
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The plane carrying William, Andrew and Edward didn't land in Aberdeen until 3:50pm and were then faced with the task of making the 50 or so mile drive west across the Scottish countryside.
Cars were photographed racing from the airport, including a Range Rover being driven by William with Andrew in the passenger seat.
The car is thought to have arrived at Balmoral shortly after 5pm, around 30 minutes after PM Truss got the call informing her of the news
It is understood that King Charles was by his mother's side when she passed away.
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The rest of the world heard the news around two hours after Truss, with official announcements being made at around 6:30pm.
The shocking news – which confirmed what seemed almost impossible, that Queen Elizabeth II had passed away – came in a statement from the Palace.
It read: "The Queen died peacefully at Balmoral this afternoon. The King and The Queen Consort will remain at Balmoral this evening and will return to London tomorrow."
The Queen's son, who is now the King, followed the statement with a tribute of his own, saying: "The death of my beloved mother, Her Majesty The Queen, is a moment of the greatest sadness for me and all members of my family.
"We mourn profoundly the passing of a cherished sovereign and a much-loved mother. I know her loss will be deeply felt throughout the country, the Realms and the Commonwealth, and by countless people around the world.
"During this period of mourning and change, my family and I will be comforted and sustained by our knowledge of the respect and deep affection in which the Queen was so widely held."
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