In a rare interview, Princess Anne discussed her decision not to grant her children HRH (His/Her Royal Highness) titles.

The siblings have a strong relationship with their more renowned relatives, Princes William and Harry, but they did not acquire titles at birth.

The Princess Royal had the two children with her ex-husband Mark Phillips: 42-year-old Peter and 38-year-old Zara. She is the second of Queen Elizabeth II and Prince Philip’s four children.

Princess Anne said in a new interview with Vanity Fair magazine in the run-up to her 70th birthday in August that she feels not granting Peter and Zara titles was “probably the right thing to do.”

“I think it was probably easier for them, and I think most people would argue that there are downsides to having titles,” she said.

Many girls aspire to be princesses, but Zara, a professional athlete, was relieved that her mother decided she wouldn’t be one.

Princess Anne declined the Queen’s invitation to bestow a royal title on Zara when she was born, and the equestrian-obsessed Zara expressed gratitude for the choice.

In 2015, the Olympian told the Times that her lack of a title provided her with “opportunity”

She said: “I’m very lucky that both my parents decided to not use the title and we grew up and did all the things that gave us the opportunity to do.”

Princess Anne’s choice has also been lauded by former Buckingham Palace press secretary Dickie Arbiter.

He said: “It was a masterstroke of the Princess Royal when she decided not to give her children titles.

“Growing up as a commoner allowed Zara to thrive as her own woman, and there has never been pressure on her to conform.

“She has benefited from it in all sorts of ways.”