Queen Elizabeth II and the rest of the royals' vulnerable moments have been caught on camera many times over the years.

The members of the Firm are always graceful and elegant. However, there have been times when they couldn't help but be overcome with emotion in public. Here are some photos of Queen Elizabeth II, Princess Diana, Kate Middleton and Camilla Parker Bowles in tears, as shared by Hello!

Queen Elizabeth II

The Queen was seen crying in public for the first time in December 1997 when her beloved HMY Britannia was decommissioned. She shed a tear as she bid goodbye to her luxury yacht, which cost too much to maintain.

In 2002, Her Majesty was overcome with emotion again on Remembrance Sunday when she visited the Field of Remembrance at Westminster Abbey. In the snap, the Queen wore matching black hat and coat. Her eyes are red and her cheeks are wet with tears.

Princess Diana

Princess Diana, dubbed as the People's Princess, was very attached to the public. She supported a number of charities and was overcome with emotion at one point over them. Over two decades ago, the late Princess of Wales visited Ashworth Hospice in Liverpool. However, she was photographed bursting into tears as she left the emotional engagement.

Kate Middleton

In 2014, the Duchess of Cambridge attended a launch event for East Anglia Children's Hospice charity. Later on, Middleton was seen swelling up as she drove away from the engagement.

"Kate gave me a hug just before she left. I was getting quite teary-eyed, she had tears in her eyes and she just said to me, 'You're a very brave lady and again, I'm just so, so sorry,'" physiotherapist Leigh Smith said.

Camilla Parker Bowles

The Duchess of Cornwall, who is known for her bubbly disposition, also welled up in tears during one of her engagements. During her visit to the Safelives Centre in London in January 2016, Prince Charles' second wife spoke to the victim of domestic abuse, Diana Parkes, whose daughter Joanna Brown was murdered by her husband Robert.

Princess Anne

Princess Anne was also seen in tears during the decommissioning ceremony. The royal family was present in the event and the Royal Princess was caught on camera wiping away her tears.

Queen Elizabeth II, Camilla Parker Bowles and Kate Middleton
Kate Middleton, Camilla Parker Bowles and Queen Elizabeth II depart after visiting the Fortnum And Mason Store on March 1, 2012 in London. Getty Images/Ian Gavan