Australian-born Queen Mary of Denmark has had a painful encounter with a wasp during a public event.

Mary, 53, was with her husband King Frederik X, 57, and two of their children Princess Isabella, 18, and Prince Vincent, 14, greeting locals in Grasten, Denmark on Tuesday.

Mary, carrying flowers given to her by a member of the public, suddenly winced and grabbed her leg.

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Video posted to social media shows Mary clearly concerned over her leg.

She was whisked away to a nearby hotel for medical attention but insisted her family continue with the engagement, Sky News reported.

Mary was recovering and was OK, local media Billed Bladet later confirmed.

“The Queen certainly did not seem to be badly affected by the encounter with the stinging wasp and she, together with the King, Isabella and Vincent, made sure to greet the many citizens who had gathered in the square,” it reported.

Nearby Grasten Palace is expected to be the royal family’s summer home for the next few weeks.

Eldest son Prince Christian, 19, is acting as Royal Regent.