Denmark's Queen Margrethe II regrets having disappointed her son Prince Joachim with a decision that saw his four children lose their titles of prince and princess.

"I made my decision as a queen, a mother and a grandmother, but as a mother and a grandmother I underestimated how much it affected my youngest son and his family," the 82-year-old monarch said in a personal statement Monday night.

I'm sorry.

"No one should doubt that my children, children-in-law and grandchildren are my great joy and pride," she said.

The Danish royal family announced on Wednesday that Margrethe had decided that Prince Joachim's four children (53) should only bear the titles of Count or Countess of Monpezat from January 1, 2023.

Joachim was then disappointed that his children would lose the titles of prince or princess.

It's about Joachim's sons Nikolai (23) and Felix (20) with his ex-wife Countess Alexandra and Henrik (13) and Athena (10) with his wife Princess Marie.

Margrethe now explained that now that she is 50 years on the throne, it is natural to look back as well as forward.

"It is my duty and my desire as Queen to ensure that the monarchy continues to be contemporary."

This sometimes requires making difficult decisions and it will always be difficult to find the right moment.