One particular scene stood out for viewers, when the 91-year-old Queen complained about new health and safety laws that had been brought in during her lifetime.
The Queen told Sir David that the new laws have stopped children from being allowed to play with conkers.
Sir David, 91, approached a horse chestnut tree and gushed: “Hmm, conkers.”
The Queen then said: “I heard recently that somebody tried to stop children playing with conkers.”
Blue Planet II star Sir David asked: “Was it health and safety?” prompting the Queen to quip: “Health and safety!”
Shocked, Sir David gasped: “No, really?”
Stunned at the law change, the Queen replied: “Yes!”
The naturalist then laughed: “You’d think they’d stop some people breathing.”
Smiling, the Queen chuckled and added: “It seems to be quite a harmless sort of battle thing, doesn’t it?”
The programme was a hit with viewers, with fans of the broadcaster and monarch taking to social media during the show.
One viewer tweeted: “Queen Liz fuming that people don’t play conkers anymore because of health & safety is giving me life #TheQueensGreenPlanet.”
“That’s the closest you’ll ever get to hearing the Queen say ‘health and safety gone mad’. #conkers #TheQueensGreenPlanet,” posted another.
A third said: “Health and safety gone mad! Even Her Majesty thinks so #conkers #TheQueensGreenPlanet,”
“David Attenborough and the Queen chatting about conkers is the most brilliantly British thing. #TheQueensGreenPlanet,” wrote another.
A fifth added: “I think my favourite part of #TheQueensGreenPlanet has to be her discussing conkers. Even the Queen thinks health and safety has gone mad…”
“So HM The Queen endorses children playing of ‘conkers’… she easily outranks any teacher or health and safety advisor… play away kids! #TheQueensGreenPlanet,” said another.
One viewer noted: “2018 has been full of iconic moments from the Queen. We had her manhandling and shaking the crown jewels, fuming over conkers and laughing about sundials. #TheQueensGreenPlanet.”
“If the Queen and Attenborough said we should play conkers then that’s good enough for me! #TheQueensGreenPlanet,” cheered another.
One fan of the royals laughed: “The Queen kicking off that people don’t play conkers anymore because of health and safety cracks me up #TheQueensGreenPlanet.”
The Queen’s Green Planet is available to watch on the ITV hub now.