Whether it’s for official duties or holidays she and her family have long enjoyed meeting the Scottish people and appreciating the stunning scenery.
There have also been major occasions that have brought her north of the border.
1960s, 70s & 80s
On Wednesday, September 20, 1967, the Queen arrived at Clydebank to christen the new Cunard liner built at John Brown’s yard.
For days, bookmakers were taking bets on what the would be called. More than 12,000 bets were placed, worth more than £3,000 – but only £200 of the total bets had gone for The Queen Elizabeth II.
She and the Duke of Edinburgh flew into Glasgow Airport, stopping on the way to Clydebank at the gates of Erskine Hospitalto speak to a handful of war veterans.
At the yard an enormous crowd around 30,000 strong had gathered, mainly shipyard workers and their guests.
The Queen unveiled the name of the new ship, declared “God speed” and cut the ribbon that held the bottle of champagne.
The QE2 ground forward, stopped for a few seconds, then finally slid all the way into the water to a chorus of loud cheers.
In 1977 she toured Scotland as part of her Silver Jubilee celebrations.
In Glasgow an estimated 200,000 people took to the streets to welcome her, before the tour continued north to Dundee where the royal couple were mobbed by more than 10,000 folk.
In Aberdeen the crowd was 20 deep on pavements as fans of the Queen strained for a look at the passing monarch.
The 90s and Noughties
RIGHT up to the present day the Queen has maintained her close and affectionate relationship with Scotland.
In 1997 she was in Scotland, at Balmoral, when she heard of the death of her daughter-in-law princess Diana in Paris.
Just a few hours after being told the terrible news by Prince Charles she took her grandsons Princes William and Harry to church at Balmoral, to help them find comfort after their mother’s tragic death.
In happier times the Queen has come to Scotland to mark two of the biggest occasions for her in recent years.
In 2002 she embarked on a six-day trip to celebrate her Golden Jubilee that took in Glasgow, Edinburgh, Dundee, Stornoway and Aberdeen.
And then 10 years later her Diamond Jubilee came round and once again she headed to Scotland.
Councils reported about 100 official road closures to allow street parties over the main Jubilee weekend, on June 2-3.
And at Edinburgh castle a 21-gun salute was fired.
Visitors to the Royal Yacht Britannia, moored in Leith, were being offered Jubilee cake and a tot of rum to toast the Queen.
Jubilee-related events were also held at Glasgow, Stirling castle, Dundee, Aberdeen and the Western Isles.
In Perth 1,000 pipers from around the world paraded on the Saturday while more than 1,000 athletes attempted to set a new world record for
racing in kilts.
Even Rockall, the tiny lump of rock 250 miles off the Western Isles, had a celebration. Nick Hancock, who was attempting to occupy Rockall for 60 nights, unfurled a union flag and tweeted “Happy jubilee your majesty”!