Britain's Queen Elizabeth II has seen her great granddaughter Princess Charlotte for the first time.

The baby girl, who is fourth in line to the throne, was introduced to her great-grandmother at Kensington Palace.

She is believed to have travelled down to London from her Sandringham Estate in Norfolk.

The Duke and Duchess of Cambridge's daughter was born at 8:34am on Saturday, weighing 8lb 3oz.

Princess Charlotte is Queen Elizabeth II's fifth great-grandchild.

It is thought the newborn royal could be christened before the Queen goes to Balmoral for the summer in a couple of months' time.

Meanwhile, Kate and William have formally registered the birth of Princess Charlotte.

Kensington Palace said in a statement: "The Duke and Duchess of Cambridge have formally registered the birth of Princess Charlotte."

"The Duke of Cambridge signed the birth register at Kensington Palace this afternoon witnessed by a registrar from Westminster Register Office."

A register of the birth of Princess Charlotte | Image via @KensingtonRoyal on Twitter

As well as the date and place of birth, the document gives her full name as Her Royal Highness Princess Charlotte Elizabeth Diana of Cambridge.

In tribute to Queen Elizabeth II one of their daughter's middle names is Elizabeth, while the other is Diana in recognition of William's mother.

On the birth certificate, Charlotte's parents gave their occupations as Prince and Princess of the United Kingdom - as they did when registering the birth of their first child Prince George in 2013.

The Prince of Wales, Duchess of Cornwall and Michael and Carole Middleton have already visited their granddaughter at Kensington Palace.