D-Day veterans visit King and Queen at Buckingham Palace

“He (Walter) rescued me, and as a family we will never forget it. We found that he was killed the day after. We visited his grave a number of times.”

Queen Camilla empathised with Mr Oborne, telling him: “It must be very difficult recollecting it all.”

Mr Dennett, a Navy gunner from Wallesey, Merseyside, told the King how he was “grateful” to be alive after so many young men died fighting during the war.

“I class myself as being very lucky” he said, continuing to say how he has been able to enjoy the life he fought for.

Mr Dennett also showed the King a picture of his wife, Joyce, whom he wrote love letters to throughout the war and later married.

The Queen spoke with the youngest RAF sergeant to land on Gold Beach, Mr Morgan.

She asked: “What are your recollections of D-Day itself?”

He replied: “When we came off the landing ship tank down on the beach, the Army were collecting the poor soldiers who drowned on the initial landing.”

He went on to share happier memories of the war too, showing off a pair of football boots he had with him in Normandy.

“I played 12 games of football, including one on the landing craft going to Normandy,” Mr Morgan said.

The King appeared amused by this, commenting: “How fantastic, they’re remarkably well-preserved.”

“They’re well past their sell-by date,” Mr Morgan joked.