In a wide ranging interview about fatherhood, rugby and social media, the former rugby star laid bare his true feelings about his royal in-laws. Speaking to The Telegraph, Mr Tindall told of his experience with the Royal Family throughout the years.

He said: “I can only say how kind they’ve been to me, and how welcoming they’ve been to me since joining the family.

“And how they’ve made my family welcome.

“I’ve always felt part of it and I think that’s down to what an amazing woman the Queen is.”

Next month will mark Mr Tindall’s 10th wedding anniversary with Zara Phillips, the daughter of Princess Anne.

The former rugby player married Zara on July 30, 2011 with whom he now shares three children, Mia, Lena and Lucas.

During the interview he said the success of the marriage stemmed from “the fact that she’s [Zara’s] always been my best friend.”

“At the end of the day we can sit down and laugh at each other and have a good time,” he said.

He added the last 10 years have been “amazing”.

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His comments about the Queen and the Royal Family follows his brother-in-law, Peter Philips’ first public appearance at Royal Ascot since finalising his divorce.