- Her Majesty's Body Guard of the Honourable Corps of Gentlemen at Arms - formed 1509
- Queen's Body Guard of the Yeomen of the Guard - formed 1485
- Royal Company of Archers, the Queen's Body Guard for Scotland - formed 1676; entered royal service 1822
Although the Yeomen of the Guard is older, the Gentlemen at Arms are more senior, due to their being classed as 'gentlemen' rather than 'yeomen', and because they are classed as the 'nearest guard', i.e. the personal guard to the Sovereign. The Royal Company of Archers performs this role when the Sovereign is in Scotland.