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The Queen took centre stage at the celebrations in Portsmouth on Tuesday, marking 200 years since Nelson's victory over Napoleon's fleet at the Battle of Trafalgar.

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In total 167 naval, merchant and tall ships took part in the battle re-enactment, with the tall ship Grand Turk taking centre stage as Nelson's flagship Victory.

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In total 167 naval, merchant and tall ships from countries such as Nigeria, the US, France, Spain and India took part.

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The Queen said in a written message that the presence of such a large international fleet was a tribute to Admiral Lord Nelson - who died in the battle on 21 October 1805.

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The day drew many Royals to the Solent, including Prince Charles and the Duchess of Cornwall.

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In the evening, a battle re-enactment starred local historian Alex Naylor, who took the role of the ill-fated Lord Nelson.

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The Grand Turk, a replica 18th century frigate which has appeared in TV drama Hornblower, fires a broadside in its role of HMS Victory

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A spectacular mock Battle of Trafalgar was held between a blue and a red team, rather than Britain versus France.

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The battle was the last great sea action of the period. As he lay dying, Nelson was brought news of the victory . His last words were: 'Thank God I have done my duty'.

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The event follows a long tradition of reviews of the fleet at the Spithead mooring, dating back to medieval times. The last was in 1977 to mark the Queen's Silver Jubilee.