Charles and Camilla toasted their 'Utopian' Poundbury estate as the Queen gave the development her royal seal of approval during an anniversary tour.

The Duchess of Cornwall poured a half pint of beer for her husband this afternoon as they marked the official opening of The Duchess of Cornwall Inn in the experimental Dorset village.

The Duke of Edinburgh also perused the ales on tap.

Her Majesty then returned to Waitrose, where she browsed the cheese aisle and studying the cereals on offer.

Camilla speaks with Waitrose cafe staff during a visit to Poundbury, which is owned by the Duchy of Cornwall.

In a tour that marks 20 years since building of Poundbury began, the Queen also visited the pub on site where locals gathered.

The Queen, the Duke of Edinburgh, The Duchess of Cornwall and Prince Charles watch on as the statue of the Queen Mother is unveiled in the centre of Poundbury.

The Queen and the Duke of Edinburgh arrived at Prince Charles's 'Utopian' Poundbury village for a tour Waitrose and the village pub.

After touring Queen Mother Square, the Queen and the Duke visited the local Waitrose supermarket and attended a private reception.

The statue (left) is based on the Queen Mother when she was younger. She is pictured right, walking in procession to the service of the Most Noble Order of the Garter at St. George's Chapel, Windsor Castle.

The Royal Pavilion, which will house luxury apartments, takes its name from one of the Queen Mother's racehorses.