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Protest at Buckingham Palace during Bahraini King's visit

18 May 2012 Last updated at 17:57 BST

A protest has been held outside Buckingham Palace against the visit of the Bahraini King and a number of other foreign royals, who have lunched at Windsor Castle to celebrate the Queen's Diamond Jubilee.

The visit of King Hamad al-Khalifa of Bahrain has been criticised by human rights campaigners.

Peter Tatchell, one of around 40 protesters, told the BBC that it is "very wrong that the Queen has invited seven royal dictators to celebrate her Diamond Jubilee".

Buckingham Palace has said that the Foreign Office approved the invitation of King Hamad.