The bronze likeness was unveiled by her sons, the Duke of Cambridge and the Duke of Sussex, on Thursday, on what would have been her 60th birthday.
The gardens were closed for the day for the unveiling but this morning people were able to visit the monument in the Sunken Garden, one of the places Diana loved most at the palace.
The figure of the princess is surrounded by three children and depicts Diana, with short cropped hair, in the later years of her life.
William and Harry put their personal differences aside for the brief unveiling ceremony. The princes mingled with guests — including Diana’s siblings, Earl Spencer, Lady Sarah McCorquodale and Lady Jane Fellowes — who applauded as they pulled off a green cloth covering the statue.
Harry, who lives in the US with his wife Meghan and their two children, arrived in the UK last week to complete his quarantine ahead of the event.
He is understood to have returned to the US immediately after the ceremony.
The brothers, who commissioned the statue of their mother in 2017, said they hoped it would help visitors “reflect on her life and her legacy”. Fans today said artist Ian Rank-Broadley had captured Diana’s openness and compassion.