QUEENS: Underwear-clad models parade [REX]

It's usually suited and booted guards that parade outside Buckingham Palace.

But for one day only the guards weren't centre of attention – instead a trio of lingerie models took that crown.

The underwear clad beauties posed for sultry snaps outside famous London landmarks to promote Heidi Klum's new intimate range.

BEAUTS: Posing in lingerie [REX]

They could be seen hanging off one another outside the palace and along The Mall.

The almost naked models then headed for the Thames' embankment – where London Eye-goers got more than eyeful.

STRUT: Embankment turned into catwalk [REX]
BOOTIFUL: Passers-by see everything [REX]

Heidi Klum, 41, launched the lingerie range in New York last week.

She's taken over the collection from Elle Macpherson – who had produced the line for 25 years.

Asked about the collection, Klum said she liked Macpherson's classic styles but wanted to "put my own twist on them".

EYEFUL: Considering a swim? [REX]

It's not known if the Queen spotted the models.