Crowds of people have gathered at Hull station to greet the Queen as she visits the UK City of Culture.
Hundreds lined the platform and cheered as the royal train pulled into the city's railway station at 10:30 GMT.
The Queen received a posy from 11-year-old Islay Cunliffe-Lister and met City of Culture volunteers, members of the public and Lord Lieutenant of East Riding Susan Cunliffe-Lister.
She last visited the city eight years ago.
As the Queen walked from the train to her waiting car, she collected dozens of flower bouquets and chatted to well-wishers.
The royal visitor then went on a tour of the city, first stopping at the Siemens Gamesa factory on Alexandra Dock before opening a new medical building at the University of Hull.
Hull's museums and attractions have notched up more than a million visits with hundreds of cultural events being staged since the year-long City of Culture celebrations began in January.
Among the cultural activities was a 250ft (75m) long wind turbine blade art installation in Queen Victoria Square, which was made at the Siemens Gamesa factory, where the Queen met staff and toured the production facility.
The Queen ended her trip with a tour of the university where she was welcomed by crowds of staff and students.
After opening the Allam Medical Building, which is in the centre of the university's £28m health campus, the Queen was shown around the centre's new medical training facilities, including a simulated operating theatre, intensive care unit and hospital ward.
She joked with student nurses as Craig Millward, from Bridlington, was given a glass a water to take fake drugs. She said to him: "I hope it's just water" and laughed with them.
Vice-chancellor professor Susan Lea said it was "a great honour" to have the head of state visit the university and open the facility.