image copyrightPA Media
The Queen has recalled presenting the World Cup trophy in 1966 as she sent her "good wishes" to the England team ahead of the Euro 2020 final.
She said she hoped that history would record the team's success but also "the spirit, commitment and pride with which you have conducted yourselves".
The monarch said she had seen what it meant to the players to win a major tournament 55 years ago.
Gareth Southgate's team play Italy at Wembley on Sunday.
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Her message reads: "Fifty-five years ago I was fortunate to present the World Cup to Bobby Moore and saw what it meant to the players, management and support staff to reach and win the final of a major international football tournament.
"I want to send my congratulations and that of my family to you all on reaching the final of the European Championships, and send my good wishes for tomorrow with the hope that history will record not only your success but also the spirit, commitment and pride with which you have conducted yourselves."
Speaking at a news conference on Saturday evening, Southgate said: ""It has been fantastic to have the letter from the Queen and the Prime Minister to all of the team – and the recognition the players have gone about this in the right way.
"But we're in a final and we're here to win. Now we want to go and bring the trophy home."
image copyrightPA Mediaimage captionThe Queen presents Bobby Moore with the Jules Rimet Trophy for winning the World Cup in 1966
The Queen's grandson, the Duke of Cambridge, is a football fan and, as president of the Football Association, has attended some of England's matches at Wembley.
His son Prince George and wife, the Duchess of Cambridge, joined him for the round-of-16 match against Germany.
image copyrightPA Mediaimage captionThe Duke and Duchess of Cambridge with their son Prince George at Wembley
The Queen is not the only person wishing the England team well, with captain Harry Kane revealing that actor Tom Cruise had called the squad.
He told BBC Radio 5 Live: "We actually had Tom Cruise get in touch yesterday evening. You get everyone who loves football."
Kane added: "We were fortunate enough to have a watch of one of his films, so I think he was over here in the UK and he just dialled in and Facetimed us just to wish us the best as a group. So that was nice of him.
"I'm not sure if he will be there at the final or not, but football is such a big part of the world and it's nice to have that support."
image copyrightPA Mediaimage captionThe Queen met Gareth Southgate in 2002 when he was still playing