Nottinghamshire authorities have paid tribute to Queen Elizabeth II after Buckingham Palace confirmed her death at the age of 96.

She died at Balmoral Castle in Aberdeenshire on Thursday afternoon (September 8), with members of the Royal Family travelling to Scotland throughout the day.

The Palace had initially said doctors had concerns over her health before the death was confirmed at 6.30pm.

King Charles III and Queen Consort Camilla remain at Balmoral alongside other members of the Royal Family and will return to London on Friday.

In a statement, Buckingham Palace said: "The Queen died peacefully at Balmoral this afternoon. The King and The Queen Consort will remain at Balmoral this evening and will return to London tomorrow."

The Queen recently celebrated her Platinum Jubilee after marking 70 years on the throne and has been described as a "truly remarkable public servant" by Nottinghamshire leaders.

Flags will be flown at half-mast on public buildings across the country as the United Kingdom enters a period of mourning.

Craig Parkin, chief fire officer at Nottinghamshire Fire and Rescue Service, said: "We join the nation in mourning the loss of Her Majesty The Queen.

"All at Nottinghamshire Fire and Rescue Service send our deepest condolences and sympathies to the Royal Family.

"As a mark of respect to Her Majesty and to recognise her incredible service to the country, the Union Flag will be flown at half-mast at our stations."

The Queen was the longest-reigning monarch in the history of Britain, as well as 14 countries in the Commonwealth.

Councillor Jason Zadrozny (Ash Ind), the leader of Ashfield District Council, said: "On behalf of the residents of Ashfield, I would like to express my sincere condolences to the Royal Family on the extremely sad news of the passing of Her Majesty the Queen. She truly was an inspirational figurehead.

"Ashfield District Council will immediately fly our flags at half-mast in all our public buildings and open books of condolence.

"This is devastating news – the Queen has been a constant in the lives of Ashfield residents for more than seven decades.

"There will never be a Monarch like her. In June, Queen Elizabeth II celebrated 70 years on the throne with her Platinum Jubilee.

"Ashfield came alive with dozens of street parties, beacon lightings and a whole host of events across our district.

"We will look at the best way to bring our communities together to mark the life of someone who has been a truly remarkable public servant."

In a joint statement, Andy Abrahams, Labour mayor of Mansfield District Council and the authority's chief executive Adam Hill, also paid their tributes.

They said: "We are extremely saddened by the death of Her Majesty The Queen, and join the nation in a period of mourning.

"On behalf of Mansfield District Council and the residents of Mansfield district, we extend our sincere condolences to the entire Royal Family.

"We are grateful for and will never forget The Queen's 70 years of incredible devotion to public service in the UK and the Commonwealth.

"We will fondly remember her as a much-loved and respected figure who provided impeccable leadership on joyous occasions as well as through more challenging times.

"We know many residents of Mansfield will have their own personal memories of The Queen.

"This includes those who have received honours at Investitures, attended Garden Parties or receptions, been present at one of her visits to Mansfield, or who have received a message on their 100th birthday."

Cllr Michael Payne (Lab), deputy leader of Gedling Borough Council, added: "Her Majesty The Queen's selfless dedication to our country and the Commonwealth defined her life and the best way of our life.

"From her service whilst Princess Elizabeth during World War II, to this week when as Monarch she performed her constitutional duties even when gravely ill, she has been our constant and our guide.

"We mourn her passing and send our sincere condolences to the Royal Family."

Arrangements will now be made for The Queen's funeral, with Operation Unicorn – the process in place if she dies in Scotland – taking effect.

In a statement by Buckingham Palace, King Charles said: "The death of my beloved Mother, Her Majesty The Queen, is a moment of the greatest sadness for me and all members of my family.

"We mourn profoundly the passing of a cherished Sovereign and a much-loved Mother. I know her loss will be deeply felt throughout the country, the Realms and the Commonwealth, and by countless people around the world.

"During this period of mourning and change, my family and I will be comforted and sustained by our knowledge of the respect and deep affection in which The Queen was so widely held."