And while the 'grandkids' of the royal family have spoken out about their normal relationship with the queen, Elizabeth still has her moments, isn't that right Eugenie?
WATCH: The moment the Queen tells off Princess Eugenie
According to a documentary, newly resurfaced footage shows Queen Elizabeth giving a young Eugenie a right royal telling off when the Princess stands on her foot while out for a family trip at Balmoral Castle.
In the 1992 BBC footage, a teeny tiny Princess Eugenie is seen standing next to Her Majesty, while her sister and cousins all go and enjoy a pony ride.
The Queen is then heard saying: “Ouch! It is my foot you are standing on!”