The daughter of murdered policewoman Sharon Beshenivsky presented the Queen with a bouquet of flowers during the final leg of her visit to Bradford.
The Duke of Edinburgh put five-year-old Lydia Beshenivsky at ease by asking her if she had picked the flowers from the civic garden.
Hundreds of people turned out in Centenary Square for the visit of the Royal couple.
The Queen was greeted by Bradford Council officials who showed her plans for the city centre's regeneration.
Members of the Bradford Schools Choir sang throughout the visit after the Black Dyke Band had warmed up the crowd with a repertoire of patriotic classics.
The Queen and the Duke of Edinburgh had a ten-minute walk-around in Centenary Square, chatted with excited members of the public and were presented with flowers.
Paul Beshenivsky, PC Beshenivsky's husband, said: "It has been a superb day for my children and it's something they will never forget. I am a very proud man."
The Queen talked briefly to three elderly women who were all dressed in union jack hats and scarves and waving flags.
One of them, Veronica Quantrill, 76, of Wood-side, Bradford, said: "It has been absolutely fantastic. I am 100 per cent royalist and it was great to see them so close up. She came and talked to us and asked us where we were from. We are over the moon."
The Queen and the Duke left Centenary Square in the royal car shortly after 12 noon.
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