The clips, which span her life from having a baby pushed in a stroller by her mother to her coronation in 1953 at age 27, come as she celebrates her platinum anniversary.
Aged 96 and after a 70-year reign that has likely made her one of the most photographed women in the world, the Queen took to a personal message to introduce the BBC documentary – Elizabeth: The Unseen Queen – which is a Rays includes image of her as a young princess showing her engagement ring to the camera.
In the message, taken at Windsor Castle this month, the Queen says: “Cameras have always been a part of our lives.
“I think knowing who’s on the other side of the lens and holding the camera makes a difference in home video. It contributes to the feeling of intimacy.
“Like many families, my parents wanted to capture our precious moments together. And when it came to our own family, we did the same.”
“I’ve always enjoyed capturing family moments.”
“Private photos can often show the fun behind the formality.
“I assume that almost every family has a collection of photos or films that used to be looked at regularly to remember precious moments, but which are replaced over time with newer images and newer memories.”
“You always hope that future generations will find them interesting, and you may wonder why you too were once young.”
The 75-minute program is largely narrated by the Queen herself, using excerpts and newsreel audio from her speeches.
The Queen gave the BBC unprecedented access to hundreds of homegrown footage taken by her, her parents and the Duke of Edinburgh, which is held privately by the Royal Collection in the vaults of the British Film Institute.
The filmmakers listened to more than 300 speeches from the Queen to make the film, in which she refers to her grandfather George V as “Grandpa England”.
Grainy black-and-white footage of a young Princess Elizabeth with her uncle Prince George, the Duke of Kent, who died in a plane crash while on active duty in 1942, and the King’s final visit to Balmoral in 1951 are among the rare moments in recorded in the documentary.
It will also show the Queen as a young mother with the King and Queen as grandparents to their young children, Prince Charles and Princess Anne.
A young Elizabeth and her sister, Princess Margaret, dance in matching blue dresses with white polka dots while the corgis look on.
There are also glimpses of them crawling and playing in the garden with their father, King George VI, as toddlers.
Memories also include her first overseas tour with her family to South Africa when she was 20 years old.
Footage of The Queen and Philip on their first solo tour to Canada in 1951 shows behind-the-scenes moments of their downtime that contrast with the more formal, high-profile tour featured in newsreels.
Philip can be seen fooling around in some clips shot in stormy seas.
Countryside walks and family holidays in Balmoral including the last visit of King George VI. there in 1951, are also being held.
Other memories include a young Prince Charles and Princess Anne at the Royal Lodge Windsor in June 1951 playing with their parents and grandparents, the then King and Queen.
BBC Studios Productions Creative Director Claire Popplewell said the film reflects the love of King George VI. to his daughters.
She said: “There’s a scene where he’s playing football and, as very young children, frolicking with the two princesses that’s particularly touching.”
The final scenes show a captured queen being photographed after her coronation.
Ms Popplewell added: “In the final shot, she’s the only one smiling and gulping. This swallow is so very human.”