Just 1 hours later, Prince George was taken to Berkshire to see his grandparents Carole and Michael Middleton. It is expected that the Duchess and her son will spend the next three weeks in her parents' village of Bucklebury, proving correct suggestions that Mrs Middleton was destined to play a large role in her grandson's life.
The Duke and Duchess favour staying with her parents, rather than at Kensington Palace, where building work is taking place at the couple's new home.
The Queen made the short journey from Buckingham Palace to Kensington Palace at around 11am (UK time).
The Queen had told guests at a reception the night before that she was "thrilled" by the baby's arrival, saying that at 8lb 6oz (3.8kg) he was an "enormous child".
As ever, she had put duty first by attending a reception for winners of a business award, rather than heading to St Mary's Hospital, meaning she did not see him until 43 hours after he was born.
She may, however, have been the first to be told his name. The Duke and Duchess had decided they wanted to spend some time with their son before making a final decision on the matter, and the Duke said he and the Duchess were "working on" the name even as they left hospital.
The Queen would certainly have approved of their choice, inspired by her father, George VI.
History behind Prince George's name
In choosing to call their first child George Alexander Louis, Prince William and his wife, Kate, selected a first name steeped in British history. "George" has been borne by six British kings.
George I: The German-born, first king of Britain from the House of Hanover acceded to the throne in 1714. He ruled until his death in 1727.
George II: Initially unpopular, George II gained greater respect as his reign lengthened. He was the last British king to fight alongside his soldiers, at the age of 60. George II's grandson inherited the throne upon his death in 1760.
George III: George III became the third Hanoverian monarch and the first to be born in England and use English as a first language.
George IV: Before assuming the throne, George IV secretly and illegally married a Roman Catholic. He later married Princess Caroline of Brunswick.
George V: He assumed the throne in 1910. His legacy includes starting the sovereign's Christmas Broadcast - a tradition that began in 1932.
George VI: The father of Queen Elizabeth II was the most recent King George. His first name was Albert, but he selected George - his fourth name - in honour of his father, George V.