An elderly woman who was hit by a police motorcycle escorting the Duchess of Edinburgh has died.

Helen Holland had been in hospital in critical condition since she was hit on the afternoon of 10 May in west London.

Sophie, Duchess of Edinburgh, had said after the crash that her “thoughts and prayers” were with Ms Holland, with Buckingham Palace adding that she would “keep abreast of developments”.

A few days later, Ms Holland’s family had told Sky News that she was a “beautiful, loving, kind and caring lady who would always put anyone before herself”.

They had said that the mother of four, grandmother of 10, and great-grandmother of seven was a “well-respected and popular member of the community”.

“Helen may be 81-years-old but she is sprightly for her age and nothing stopped her living life to the full, spending precious time with her family, muddy walks with the dogs and lunches with friends is what she enjoyed most.”

The incident is being investigated by the Independent Office for Police Conduct (IOPC).