The moment a queen signed away her throne in favour of her son: Thousands of Dutch turn out to see monarch Beatrix abdicate

Crown Prince Willem-Alexander was inaugurated as the Netherlands' first king since 1890 today
His mother Beatrix, is abdicating after a 33-year reign - she is now Princess Beatrix
Prince Charles and Duchess of Cornwall attended the investiture
Her decision to step down from the largely ceremonial role had been widely expected

PUBLISHED: 08:07 GMT, 30 April 2013 | UPDATED: 09:10 GMT, 30 April 2013

Queen Beatrix of the Netherlands looked emotional this morning as she signed over her throne in favour of her eldest son Willem-Alexander.

The 46-year-old, the first Dutch king in more than 100 years, gripped his mother's hand after they both signed the abdication document at the Royal Palace in Amsterdam.

The much-loved Beatrix ended her 33-year-reign as thousands of orange-clad people cheered outside and millions more watched on national television.

With her abdication, she becomes Princess Beatrix and her son ascends the throne as King Willem-Alexander.

The father of three's popular Argentine-born wife becomes Queen Maxima and their eldest daughter, Catharina-Amalia, becomes Princess Orange and first in line to the throne.

King Willem-Alexander has pledged to be a 21st century king, close to his nearly 17 million subjects, and not a 'protocol fetishist'.

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End of an era: Queen Beatrix of the Netherlands signs the act of abdication next to her son Crown Prince Willem-Alexander and his wife Crown Princess Maxima during a ceremony at the Royal Palace in Amsterdam

New generation: Queen Beatrix passes the act of abdication to her son Crown Prince Willem-Alexander who smiled widely as he signed the act

Relaxed: Dutch Queen Beatrix, smiled as she sat down and prepared to sign the Act of Abdication

Relinquishing role: The much-loved Beatrix ended her 33-year-reign as thousands of orange-clad people cheered outside and millions more watched on national television

New leader: King Willem-Alexander of the Netherlands and his mother Princess Beatrix greet the crowd of Dam Square from the balcony of the Royal Palace Amsterdam, following the official abdication

New beginnings: Dutch King Willem-Alexander and Queen Maxima appear on the balcony of the Royal Palace with their children, from left: Catharina-Amalia, Ariane, and Alexia

Last night� Prince Charles and Camilla joined members of the Dutch Royal Family for a dinner in honour of Queen Beatrix at the world-famous Rijksmuseum in Amsterdam, which has just reopened after a lavish €375m renovation.

Celebration: Prince Charles and wife Camila, Duchess of Cornwall, arrive for a banquet hosted by the Dutch Royal family at the Rijksmuseum, Amsterdam, last night

Celebration: The pair sported a monochrome looks as they arrived at the elaborate dinner

Dutch Crown Princess Maxima waved as she left the Royal Palace before the ceremony. She wore a variety of stunning jewels for the occasion, which will see her husband take the throne and make her queen consort

Change over: Dutch Queen Beatrix, centre, and Dutch Crown Prince Willem-Alexander, left, and his wife Princess Maxima arrive for the banquet

Last dinner: Queen Beatrix Of The Netherlands hosts a Gala Dinner ahead of her abdication last night

Fit for a King and Queen: Queen Beatrix of the Netherlands, centre, hosts a dinner on April 29, 2013 at the National Museum

Fit for a King and Queen: Queen Beatrix of the Netherlands was surrounded by Royal figures, including Camilla, Duchess of Cornwall, who can be seen in sparkling white