• Prince Harry loves Prince William, but their relationship is "space at the moment"
  • The Duke of Sussex is still on speaking terms with his father Prince Charles 
  • Meghan Markle's husband has a "really good relationship" with Queen Elizabeth II

Prince Harry got candid about his relationship with Prince William, Prince Charles and Queen Elizabeth in his interview with Oprah Winfrey.

The Duke of Sussex had a sit-down interview with Winfrey for "Oprah with Meghan and Harry: A CBS Primetime Special." During the tell-all, Prince Harry opened up about his relationship with the heir apparent and second in line to the throne.

"I love William to bits. He's my brother. We've been through hell together. I mean, we have a shared experience. But we-- you know, we're on-- we're on different paths," Prince Harry was quoted by Entertainment Tonight as saying about his relationship with his older brother.

"The relationship [with William] is space at the moment. Time heals all things," he added.

Prince Harry and Prince William were very close growing up. The two princes remained close even after Prince William married Kate Middleton. The three were inseparable that's why they were called the "royal trio." Some fans also called Prince Harry the Duke and Duchess of Cambridge's third wheel at the time.

The 36-year-old royal also spoke about his strained relationship with the Prince of Wales and other members of the family. He admitted that "I took matters into my own hands" when he and Markle decided to step down from their royal duties. However, he clarified that he is still on speaking terms with his father.

"There's a lot to work through there, you know? I feel really let down, because he's been through something similar," he continued. "He knows what pain feels like, and this is-- and Archie's his grandson. But, at the same time, you know, I-- of course I will always love him, but there's a lot of hurt that's happened. And-- and I will continue to make it one of my priorities to try and heal that relationship."

As for Queen Elizabeth II, Prince Harry had nothing but kind words to say about his grandmother. He reiterated that he has a "good relationship" with Her Majesty.

"I've spoken more to my grandmother in the last year than I have done for many, many years," Prince Harry said. "My grandmother and I have a really good relationship... And an understanding. And I have a deep respect for her. She's my colonel in chief, right? She always will be."

Prince William, Camilla Parker Bowles, Prince Charles Prince Harry
Prince William, Camilla Parker Bowles, Prince Charles and Prince Harry laugh during the Invictus Games Opening Ceremony on Sept. 10, 2014 in London. Getty Images/Chris Jackson