Footage from the documentary was first shown in July

A trailer for the programme was edited out of sequence, leading to Mr Fincham claiming it showed the monarch walking out of a photo session "in a huff".

He quit after being criticised in an official report into the affair.

The programme, launched as A Year With The Queen, has been given a new title, Monarchy: The Royal Family At Work.

It shows footage of the work of The Queen and other members of the Royal Family as they go about their duties.

The five-part series is due to air before Christmas

Jana Bennett, who heads the corporation's programme production arm, BBC Vision, said she was "delighted" the series would be aired.

She added: "There has never been any doubt about the integrity of the films themselves. They are a serious and important look at the way the monarchy works."

A Buckingham Palace spokeswoman said: "It was a decision for the BBC. We're pleased that it will be going ahead because it gives a valuable look at the work of the Royal Family."

The programme was made by production company RDF Media, whose chief creative officer Stephen Lambert also quit over the controversy about the footage.

The series will be completed by a new project team, set up and supervised by the BBC.

All profits from the programmes will be given to charities nominated by the Royal household and agreed by all parties.