The Queen and her grandson Prince Harry had a four-hour heart-to-heart lunch at Windsor Castle over his future within the Royal Family.

The Queen extended an olive branch and said that Harry and Meghan will be welcomed back if they ever decide to rejoin the royals.

An insider spoke to The Sun saying “hopefully it cleared the air”.

Prince Harry walked over from his Frogmore Cottage home to the castle where they discussed the future.

“The Queen had a lot to talk to Harry about and this was the ideal time for them to both say their piece,” the insider explained.

“When Harry and Meghan announced they wanted to quit it all happened very quickly and it was very stressful for all concerned.

“Sunday was the first time the Queen has had the chance to talk to Harry on his own and really find out what his plans are. It was a much more relaxed environment and they were both able to speak their mind.”

The four-hour talk comes after reports that the Queen is “very sad” that she sees so little of her great-grandson Archie.

“It’s fair to say she is very upset about him and Meghan leaving and she would love to see more of Archie, as would Prince Charles and the rest of the family.

“But she accepts at the moment that his mind is made up and he intends to live in North America,” the insider said.

It appears that the Queen has remained firm on her stance that the Sussexes are unable to use the word “royal” in their branding.

“However, she also wanted to make it clear that the arrangement can only work if they do not exploit their royal status and try to ‘cash in’ — that’s why she wouldn’t let them use the word ‘royal’ for their foundation.

“The Queen is protecting the institution and she is also aware of the cost of security.

“That is something that still needs to be resolved. But Harry is also a much-loved grandson who she has always doted on.

“She made it very clear to him that he and Meghan are always able to come back if they change their minds and she will welcome them with open arms.”

The Queen has also made it clear that the Sussexes are subjected to a review after 12 months if things aren’t going the way that the monarch wants them to.

“Hopefully the chat cleared the air and the way forward is looking more positive,” the insider explained.

“But she wanted to make certain Harry knew there were limits and the whole set-up is subject to a review after 12 months.”

Meghan is expected to fly into London in the next 48 hours as the Sussexes complete their final royal jobs for the foreseeable future.