The family of a “kind and beautiful” grandmother struck by a police motorbike escorting the Duchess of Edinburgh say they are “praying for a miracle”.

Helen Holland, 81, remains in critical condition following the incident in west London on Wednesday afternoon.

In a statement released to Sky News on Saturday, Ms Holland’s family described her as a “beautiful, loving, kind and caring lady who would always put anyone before herself”.

“The family are deeply saddened and shocked at the news Helen was involved in such a tragic accident,” they said.

“Helen may be 81-years-old but she is sprightly for her age and nothing stopped her living life to the full, spending precious time with her family, muddy walks with the dogs and lunches with friends is what she enjoyed most.”

They described Ms Holland, a mother-of-four, grandmother-of-10, and great-grandmother-of-seven, as a “well-respected and popular member of the community”.

“This been a huge shock for many,” the family added.

“The outpour of love and support the family have received from those that know her is hugely appreciated.

“We are all praying for a miracle and ask that you keep her in your thoughts and prayers too.”

The crash happened while the duchess, who is married to Edward, Duke of Edinburgh, was being escorted by motorcycle outriders.

It took place at the junction of Cromwell Road and Warwick Road in west London.

The Metropolitan Police confirmed the motorbike involved in the collision was on escort duty for the Duchess of Edinburgh at the time.

The incident is being investigated by the Independent Office for Police Conduct (IOPC), the force added.

In a statement, Buckingham Palace said: “The Duchess’s heartfelt thoughts and prayers are with the injured lady and her family.

“She is grateful for the swift response by the emergency services and will keep abreast of developments.

“Further comment at this time would not be appropriate while the incident is being investigated.”