Here we look back at some of those memories of Prince Philip in pictures.
1. The Queen & Duke Of Edinburgh Visit Northern Ireland
GIANTS CAUSEWAY, NORTHERN IRELAND - JUNE 28: Queen Elizabeth II and Prince Philip, Duke Of Edinburgh visit the Giants Causeway on June 28, 2016 in County Antrim, Northern Ireland, United Kingdom. (Photo by Arthur Edwards/WPA Pool/Getty Images) Photo: Getty Images Europe
2. The Queen & Duke Of Edinburgh Visit Northern Ireland
COLERAINE, NORTHERN IRELAND - JUNE 28: Queen Elizabeth II and Prince Philip, Duke Of Edinburgh travel on a steam train from Coleraine Railway Station to Bellarena Station village on June 28, 2016 near Coleraine, Northern Ireland, United Kingdom. The Queen and The Duke of Edinburgh unveiled a plaque to mark the opening of the Bellarena Railway Station before they departed Northern Ireland. (Photo by Arthur Edwards/WPA Pool/Getty Images) Photo: Getty Images Europe
3. The Queen & Duke Of Edinburgh Visit Northern Ireland
Queen Elizabeth II in Northern Ireland in 2016 Photo: Getty Images Europe
4. The Queen & Duke Of Edinburgh Visit Northern Ireland
BELLARENA, NORTHERN IRELAND, JUNE 28 : Prince Philip, Duke Of Edinburgh arrives on a steam train to open the new Bellarena Station village on June 28, 2016 in Bellarena, Northern Ireland. (Photo by Carrie Davenport/Getty Images) Photo: Getty Images Europe