Princes William and Harry pay tribute to Prince Philip on his birthday

The royal family has paid tribute to Prince Philip on his 98th birthday, posting a series of gorgeous photos.

The Duke and Duchess of Cambridge shared a photo of Prince Philip pictured with Queen Elizabeth, as well as more intimate photos highlighting the closeness of their relationship with him.

The caption reads: "Wishing a very Happy 98th Birthday to His Royal Highness The Duke of Edinburgh!"

Prince Harry and Meghan Markle followed suit on their official Instagram account, sharing two photos.

One depicts Prince Harry and Prince Philip sharing a joke, and the other is a gorgeous older photo of the Prince with Queen Elizabeth dancing at an event.

The caption reads: "Wishing His Royal Highness The Duke of Edinburgh, Sir, Grandpa a very Happy 98th Birthday!"

Prince Philip chose to celebrate his June 10 birthday privately this year. He is in poor health and has retired from royal duties.