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And here are some more of Prince Philip's most famous - and sometimes controversial - one-liners: 

1988: "It looks like a tart's bedroom." On seeing plans for the Duke and Duchess of York's house at Sunninghill Park.

1992: "Oh no, I might catch some ghastly disease." In Australia when asked to stroke a koala bear.

1993: "You can't have been here that long, you haven't got a pot belly". To a Briton he met in Hungary.

1994: "Aren't most of you descended from pirates?" To a wealthy islander in the Cayman Islands.

1995: "How do you keep the natives off the booze long enough to pass the test."To a Scottish driving instructor.

You can read the rest of them here. 

The Queen and Prince Philip are attending a service for members of the Order of Merit at the Chapel Royal at St James's Palace before hosting a lunch.

Here the Royal Family Twitter feeds explains more about what the Order of Merit is. 

BBC Radio 5 live

Alison Tweed, director of Book Aid International, praised the support the charity had received from Prince Philip. 

"His royal highness has been a wonderful patron for us for over 50 years, giving us a great sense of continuity in the charity as we have changed and developed and grown.

"He has always been there interested in what we are doing, with his very own strong views, and supporting the work that we do."

Image source, Getty Images

Prince Philip is renowned for speaking his mind - often explained as his attempt to lighten the mood - which has led to some cringeworthy and often side-splitting public utterances.

Here are some of his most famous remarks.

1966: "British women can't cook".

1969: "What do you gargle with, pebbles?" To Sir Tom Jones after a Royal Variety Performance.

1981: "Everybody was saying we must have more leisure. Now they are complaining they are unemployed." During the 1981 recession.

1984: "You are a woman, aren't you?" In Kenya after accepting a small gift from a local woman.

1986: "If you stay here much longer you'll all be slitty-eyed." To a group of British students during a royal visit to China.

Read more.

Image source, Getty Images

Prince Philip was once described by the Queen as "my strength and stay all these years" and his lifetime of public service is testimony to that.

When the Duke of Edinburgh does finally stand down from his royal duties this autumn, it will bring to a close decades of him being at Her Majesty's side at all kinds of events at home and abroad.

And that is not to mention the 22,191 solo engagements he has undertaken in his role as the longest-serving consort in British history.

Read more. 

Peter Bierwirth, France, writes:The Duke has made a wise decision. He should already have reduced his 'official engagements' to 50% when he reached 'official retirement age'. Her Majesty the Queen should do likewise. There are other members in her family who are qualified to replace her in order to make her life easier. I quit my work at 68 to enjoy the rest of my life without such time-consuming official responsibilities.

Mark Rennie, Newcastle upon Tyne, says:What a wonderful gentleman! Over the years, I don't think that we could have had a finer ambassador for the United Kingdom than H.R.H. Prince Philip. I hope that he will now enjoy his "retirement" in good health and in great happiness; he most assuredly deserves it.

Antonia Luk Turner comments:When I was a child living in Hong Kong back in the 1960s, we were watching Prince Philip's motorcade driving by from my aunt's apartment window. He waved at us!  I'll never forget that.

Shaun, West Bromwich, suggests:We should have a coin or note in recognition of such a stalwart and loyal servant of the nation or a national day of remembrance of him.

And here the royals are pictured arriving at the service in London for members of the Order of Merit. 

Prince Philip and the Queen are today due at a service for members of the Order of Merit at the Chapel Royal at St James's Palace before hosting a lunch for those attending. 

Here the duke was photographed today waving from his car. 

Image source, EPA

Image source, EPA

The BBC's royal correspondent, Nicholas Witchell, said Prince Philip had been "thinking actively" about the decision since the turn of the year. 

Our correspondent said the Prince had wanted to be there publicly for events like the Queen's 90th birthday last year.

He said there were no health considerations involved in the decision, other than the "inevitable health elements" for someone who is 95. 

Victoria Derbyshire

Christopher Lee, an historian who wrote the radio documentary series This Sceptred Isle for BBC, said he did not think Prince Philip would be retiring entirely from his public duties. He thinks he will still be making some public appearances. 

“He won’t just sit back, as you say, with the sound turned up. 

"He will be saying ‘why aren’t you doing this, why aren’t we doing this, why did you do that?’ 

"It’s an instinct. This is a man who was the first man in the palace to put computers in his office. 

“He’s got this sense of waking up every morning, looking around and saying ‘this will do, now what are we going to do?’ The big issues. 

"He will want to know about the big issues. He will know every single touch, nuance on Brexit, for example.“

Ian Whiteway, Reading says:I remember being a marine cadet in the early 80s rehearsing for a Royal parade. The Duke was the Royal for the parade. It went well and he spoke to me. It was a great event to be part of.

Robert Colebrook tells us:I had worked for six months on board the Royal Yacht Britannia during Charles and Diana's tour to Canada, in which the Queen and Prince Phillip were both on board.

Every morning we had to be up at 7am cleaning the parts of the ship before the Royals got up. However, one morning I remember we hadn't quite finished and therefore we had to stay below the side of the ship out of the view of the public. Prince Philip saw me and told me not to worry about it and finish off my duties as if he wasn't there.

Matthew Jones, Telford comments:When I was in school I played in a steel band.  We were booked to perform at the arrival of the Duke of Edinburgh at a local DoE award event. We expected him to walk straight past but he stopped and took the time to listen, waited for us to finish then said thank you.

Sunny, Singapore writes:As a child, I grew up watching the celebrations of the Queen's Coronation in 1958 in Singapore. The Duke was a familiar face to me all these years and indeed he has contributed much to Britain and to mankind. I wish Prince Philip well in his retirement and may he be blessed with good health, peace and joy.

Buckingham Palace has said Prince Philip will carry out previously scheduled engagements between now and August.

The palace publishes details of official engagements, external up to eight weeks in advance. 

For the Duke of Edinburgh, these include:

• Visiting Pangbourne College, Berkshire, for its centenary - 9 May
• Presenting prizes at the Royal Windsor Horse Show - 14 May
• Attending a dinner marking the 70th anniversary of the founding of Pakistan - 18 May
• Visiting the Chelsea Flower Show - 22 May
• Holding receptions for young people who have achieved a gold Duke of Edinburgh award - 24 May
• Attending evensong to celebrate the centenary of the Companions of Honour - 13 June
• Presenting the Prince Philip Award at ZSL London Zoo - 27 June
• Hosting King Felipe of Spain during his state visit - from 12 July

Here's how the Sun's website mistakenly reported Prince Philip's death earlier today amid social media speculation about an "emergency meeting" of royal staff.  

The story was quickly taken down and Buckingham Palace released a statement saying the duke was in fact planning his retirement.