Princess Mary poses makeup-free during relaxing sailing holiday

Denmark's Crown Princess Mary is known for being impeccably dressed and groomed, looking like perfection for each public appearance.

So, it's understandable the royal has relaxed her look – only slightly – while on holidays with her family.

Mary, 47, was pictured looking blissfully happy aboard the royal family's yacht, Dannebrog, with husband Prince Frederik.

Wearing little makeup and a paisley-print dress, Mary posed with Frederik in the afternoon sun.

The Crown Prince couple shared the photo to the Danish royal family's official Instagram account, which has been documenting their summer break.

Frederik and Mary, and their children Prince Christian, 13, Princess Isabella, 12, Prince Vincent and Princess Josephine, eight, have been tourists in their home country visiting several places on board the yacht.

Most recently they stopped at Kongsøre, in Denmark's north, where the family took part in an obstacle course. Many years ago, Prince Frederik trained there while in the Danish navy, writing on Instagram that he "had the pleasure of showing the whole family my former workplace".

Photos show Mary and her family wearing camouflage face paint while completing a series of obstacles in the forest and along the shore.

A brave Prince Christian is seen leaping from the deck of the yacht, while Princess Isabella climbs a rope.

Earlier, the family had visited a carpentry workshop and a glass factory, with Mary sharing photos to Instagram that she'd taken of her children.

It's now thought the Danish royals are in southern France, staying at the Château de Cayx, near Cahors, which has been owned by the family since 1974.