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Craig grumpy before filming with Queen
Daniel Craig during the Olympic skit with the Queen. Picture: Supplied.

Daniel Craig was feeling "grumpy" on the day he filmed a James Bond sketch with the Queen for the Olympic opening ceremony because he was using his day off to take part in the shoot.

The actor was filmed in character visiting Buckingham Palace to meet the Queen before they climbed into a helicopter together and appeared to parachute into London's Olympic Stadium during the July event.

Craig reveals he used a day off from shooting new 007 movie Skyfall to film the sequence - and as a result, he wasn't on top form.

"She was fun, incredibly game," he tells Britain's Daily Mirror.

"We had a short space of time and I was a bit grumpy as it was my day off and suddenly I am at the Palace with the Queen at her private chamber.

"And she improvises a little bit. She was supposed to be sitting at the desk and she asked if she could write, so she pretended to write."