Angela Kelly, the queen’s ‘gatekeeper’ for the past six years, said the 81-year-old was a great mimic with a sharp sense of humour, in a rare insight into the sovereign’s personal relationships.

Queen Elizabeth and Kelly, a 55-year-old Catholic divorcee born in a public housing estate in Liverpool, north-west England, have struck up a close connection since Kelly began working as one of the queen’s dressers in 1993.

Speaking with the queen’s permission for the first time about her role, Kelly said the pair discuss “anything and everything” from their grandchildren to ball-gowns.

Queen Elizabeth recently told Kelly, “You and I do work well together. I think we are a good team,” she recounted in an interview with The Sunday Telegraph, adding, “I love the queen and everything about her. I adore her — but then, so does everyone else. She is not ‘my’ queen, she is everyone’s and so I have to share her.”

Kelly, who sees Queen Elizabeth almost every day, is one of the few people — other than the royal family — who can put their hands on the sovereign.

“I do worry about her and care about her. But we also have a lot of fun together. The queen has a wicked sense of humour and is a great mimic. She can do all accents — including mine,” said Kelly, who has not lost her Beatles-like Liverpudlian accent. They call each other “Your Majesty” and “Angela”.