But, in recently unearthed footage from June 2012, Middleton can be seen sweetly planting a kiss on Her Majesty's cheek.
At the time, Middleton and Prince William had joined the monarch in Nottingham for the Diamond Jubilee celebrations.
While at Nottingham train station, the longest reigning monarch arrived to a kiss from her grandson, before Middleton traditionally curtseyed and followed her husband's gesture.
Both Middleton and the Queen smiled during the heartfelt moment, as Prince William stood nearby.
At the time, Middleton wore a blue teal coat by Missoni and a complementing hat by Rachel Trevor Morgan.
The similarly dressed monarch wore a silk tweed double-breasted Stewart Parvin coat, shift dress and a hat by the same designer as Middleton's.
Later, in March 2019, Middleton joined the Queen for a rare joint occasion to open Bush House at King's College London.
It was the first time they had attended a public event together without other royal family members.
On this occasion, Middleton was dressed in a grey Catherine Walker belted dress-coat while the Queen opted for a contrasting pink cashmere coat by Stewart Parvin.
They toured the latest education facilities on the university's Strand Campus.
During an episode of Royally Us, Majesty Magazine's managing editor Joe Little said Her Majesty 'very much regards' her granddaughter-in-law Middleton as a 'safe pair of hands'.
In 2019, Middleton received the Dame Grand Cross of the Royal Victorian Order (GCVO), which is awarded personally by The Queen for services to the Sovereign.
Referring to this, Little said: 'It's something that's only given to female members of the Royal Family who have been around for quite some time and are deemed to be of great support to the Queen.
'So not every female member of the Royal family got it, but Kate now has.
He added: 'So, I would say that the Queen has great trust in the future Prince and Princess of Wales as William and Catherine will be one day.
'It seems safe to assume that the Queen regards this couple as very much the future of the British monarchy in the 21st century.'
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