Princess Anne looked chic in a cream coat, her hair in its classic beehive style. She wore a gold brooch and a navy blue bag.

One wrote: “Princess Anne is the ultimate pro – always good to see her on duty.”

“She’s my favourite royal,” another said.

“It’s so nice to see Princess Anne out in the community doing what she does best!” one royal fan wrote.

Another gushed: “What a wonderful lady.”

A spokesman for the former couple said the agreement has been approved and ordered by the High Court.

The spokesman said: “Whilst this is a sad day for Peter and Autumn, they continue to put the wellbeing and upbringing of their wonderful daughters Savannah and Isla first and foremost.

“Both Peter and Autumn are pleased to have resolved matters amicably with the children firmly at the forefront of those thoughts and decisions.”

Peter Philips is the Queen’s firstborn grandchild.