Britain's Queen Elizabeth arrives in Ireland on historic visit - PHOTOS & VIDEO

Her Majesty Queen Elizabeth II and His Royal Highness The Duke Of Edinburgh pictured at Casemet Aerodrome, Baldonnel

The small protest follows the discovery of a viable device on a bus in Maynooth on Monday night and bomb threats in Belfast and London.

The British Foreign Office said they had full faith in the Irish security forces and were adamant the trip would go ahead and adhere to its full itinerary.

After lunch, the Queen will travel up O’Connell Street to Trinity College for a private viewing of the Book of Kells.

Later this week, she will be guest of honor at a state dinner in Dublin Castle before travelling to Kildare, Tipperary and Cork before departing for London on Friday.

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