She is the elder daughter of Prince Andrew, Duke of York, and Sarah, Duchess of York. She is ninth in line of succession to the British throne, followed by her sister, Princess Eugenie.
The ceremony on Friday morning, at The Royal Chapel of All Saints at Royal Lodge, was attended by her grandparents – the Queen and the Duke of Edinburgh – along with close family.
The wedding took place in accordance with all relevant government guidelines, Buckingham Palace said.
Beatrice was due to marry on 29 May but the plans were delayed by coronavirus.