Queen Elizabeth and Prince Philip head to Sandringham early for the season

The Queen and the Duke of Edinburgh have travelled to Sandringham after spending six weeks at Balmoral.

Scotland is traditionally where the Queen enjoys her summer break but she has moved with Prince Philip to Norfolk to spend time privately on the Sandringham Estate.

The Queen, 94, normally stays at Sandringham during the Christmas and new year period and it is thought the duke has spent much of his time at the Norfolk estate since retiring from official public duties in 2017.

The head of state had travelled with Prince Philip to Balmoral in early August.

The couple went ahead with their annual stay in the Highlands after spending the previous four months at their Berkshire residence at Windsor Castle, with a reduced household dubbed HMS Bubble.

During lockdown at Windsor Castle, the Queen addressed the nation in a broadcast watched by 24 million people. She said, "We should take comfort that while we may have more still to endure, better days will return. We will be with our friends again. We will be with our families again. We will meet again."

A palace spokesman said last week that the Queen and Prince Philip intended to move from Balmoral “to spend time privately on the Sandringham Estate”.

The spokesman added: “Subject to the finalisation of the autumn programme, Her Majesty’s intention is to return to Windsor Castle in October and to resume the use of Buckingham Palace for selected audiences and engagements.

“These plans will be kept under review and will of course be subject to all relevant guidance and advice.”

Future arrangements for the 99-year-old duke are still being discussed.

It is not yet known whether Philip will remain at Sandringham when the Queen returns to Windsor, or whether he will join her at the castle where they spent the lockdown

Sandringham is set to open to the public later this month, as it will host a weekend of drive-in movie screenings on the grounds. With tickets priced at £32.50, films such as 1917, Rocketman, The Greatest Showman and Moana will be played as guests watch from the comfort of their own socially distanced cars.

Additional reporting by Press Association.