C. C. Benison's 'Death at Windsor Castle'

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From it's Amazon.co.uk page:

Although the Court painter offers a plausible avowal of his own guilt in the murder of the royal art curator, Jane Bee, head housemaid at Windsor Castle, and her majestic employer suspect that the culprit lies closer to home.

Yep, it's Queen Elizabeth II who pairs up with witty Canadian housemaid Jane to solve a juicy murder mystery that has occurred in her favourite royal household, Windsor Castle. Death at Windsor Castle is the third in Benison's Her Majesty Investigates series, but I must admit, I jumped in here because Windsor is my childhood home. Benison captures the tranquil yet somewhat sharp upper-class essence of the town brilliantly, and the location is used to nice effect. What I love most about this book, though, is Jane Bee, who is such a lovable protagonist; sassy, fun-loving, cheeky and kind - and of course, with a lot of curiosity and a keen mind, which inevitably leads her to investigating the murder of the day. It's a really enjoyable read, overall, and I recommend it a lot - I can't wait to go back and read the first two in the series!